Point Cloud Registration on 3DMatch (test)
100Registration RecallOracle Rigid fitting
Evaluation results
| Method | Links | ||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Oracle Rigid fitting2021.11 | 100 | 100 | 99.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MCI-NetSamples=10002025.12 | 96.6 | 98.4 | 89.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MCI-NetSamples=2502025.12 | 96.6 | 98.5 | 91.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MCI-NetSamples=5002025.12 | 96.5 | 98.4 | 90.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MCI-NetSamples=50002025.12 | 96.4 | 98.4 | 88.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MCI-NetSamples=25002025.12 | 96.4 | 98.4 | 88.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGHRPose Graph Type=Ours, Pairwise Registration Algorithm=YOHO, #Pair=27982023.04 | 96.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGHRPose Graph Type=Ours, Pairwise Registration Algorithm=GeoTrans, #Pair=27982023.04 | 95.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CoFF2025.05 | 95.9 | 99.5 | 74.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformerRobust Estimator=LGR2023.07 | 95.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.69 | 1.92 | — | — | |
| PSRegSamples=50002025.12 | 95.7 | 98.6 | 75.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGHRPose Graph Type=Pruned, Pairwise Registration Algorithm=YOHO, #Pair=119052023.04 | 95.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGHRPose Graph Type=Pruned, Pairwise Registration Algorithm=GeoTrans, #Pair=119052023.04 | 95.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSRegSamples=2502025.12 | 95.2 | 98.6 | 90 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSRegSamples=10002025.12 | 95.1 | 98.6 | 87.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformerEstimator=LGR2022.02 | 95 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.69 | 1.98 | — | — | |
| Diff-RegSamples=25002025.12 | 95 | 96.2 | 30.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSRegSamples=5002025.12 | 95 | 98.6 | 88.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGHRPose Graph Type=Ours, Pairwise Registration Algorithm=SpinNet, #Pair=27982023.04 | 94.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSRegSamples=25002025.12 | 94.9 | 98.6 | 82.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGHRPose Graph Type=Pruned, Pairwise Registration Algorithm=SpinNet, #Pair=119052023.04 | 94.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PEAL2024.08 | 94.6 | — | 72.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cross-PCRSamples=50002025.12 | 94.5 | 97.9 | 88.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PEALSamples=50002025.12 | 94.4 | 98.4 | 74.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cross-PCRSamples=5002025.12 | 94.3 | 97.7 | 88.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cross-PCRSamples=25002025.12 | 94.2 | 97.7 | 88.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cross-PCRSamples=10002025.12 | 94.2 | 97.9 | 88.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PEALSamples=25002025.12 | 94.1 | 98.4 | 81.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PEALSamples=10002025.12 | 94.1 | 98.4 | 86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cross-PCRSamples=2502025.12 | 94 | 97.7 | 88.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LepardRegistration Protocol=RANSAC+ICP2021.11 | 93.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6 | 1.96 | — | — | — | — | — | |
| PEALSamples=5002025.12 | 93.9 | 98.4 | 87.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SIRA-PCRSamples=25002025.12 | 93.9 | 98.4 | 78.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SIRA-PCRSamples=10002025.12 | 93.9 | 98.4 | 83.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SIRA-PCRSamples=50002025.12 | 93.6 | 98.2 | 70.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VBRegDescriptor=FCGF2023.04 | 93.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.49 | 2.04 | 0.22 | — | — | — | — | |
| LepardRegistration Protocol=RANSAC2021.11 | 93.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7.2 | 2.48 | — | — | — | — | — | |
| Lepardvariant=Default2021.11 | 93.5 | 98.3 | 55.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Lepard2024.08 | 93.5 | — | 55.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| YOHO-O2021.09 | 93.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UMERegRobust2024.08 | 93.4 | — | 79.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PEALSamples=2502025.12 | 93.4 | 98.4 | 89.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| YOHO-C2021.09 | 93.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGHRPose Graph Type=Full, Pairwise Registration Algorithm=SpinNet, #Pair=119052023.04 | 93.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointDSCFeature Extractor=FCGF2023.07 | 93.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.55 | 2.06 | — | — | |
| FCGF+PointDSCDescriptor=FCGF, Estimator=PointDSC2022.02 | 93.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.55 | 2.06 | — | — | |
| PointDSC2021.09 | 93.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGHRPose Graph Type=Full, Pairwise Registration Algorithm=YOHO, #Pair=119052023.04 | 93.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoReg2024.08 | 93.2 | — | 86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SC2_PCRDescriptor=FCGF2023.04 | 93.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.53 | 2.04 | 0.09 | — | — | — | — | |
| GCNet# Samples=50002022.01 | 92.9 | 98.2 | 63.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Lepardvariant=w/o repositioning2021.11 | 92.8 | 98 | 57.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SIRA-PCRSamples=5002025.12 | 92.7 | 98.5 | 85.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DCATrSamples=50002025.12 | 92.6 | 98.2 | 87.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Lepardvariant=Entangled2021.11 | 92.5 | 97.8 | 46.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointDSCDescriptor=FCGF2023.04 | 92.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.49 | 2.05 | 0.11 | — | — | — | — | |
| PCAM2023.07 | 92.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7 | 2.16 | — | — | |
| PCAM2022.02 | 92.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7 | 2.16 | — | — | |
| SIRA-PCRSamples=2502025.12 | 92.4 | 98.5 | 87.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DCATrSamples=25002025.12 | 92.4 | 98.3 | 86.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCAM-Sparsephi (hard-thresholding)=true, Opt. (pose refinement)=true, Saf. (safeguard registration)=true2021.10 | 92.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.23 | 8.9 | 0.07 | 2.16 | — | — | — | — | — | |
| CMHANet# Samples=50002026.03 | 92.4 | 98.6 | 71.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CMHANet# Samples=25002026.03 | 92.4 | 98.6 | 77.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PredatorRegistration Protocol=RANSAC+ICP2021.11 | 92.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.2 | 2.06 | — | — | — | — | — | |
| GCNet# Samples=10002022.01 | 92.3 | 98.1 | 61.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Lepardvariant=Sinkhorn2021.11 | 92.2 | 97.6 | 46.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DCATrSamples=10002025.12 | 92.2 | 98.4 | 84.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Lepardvariant=Absolute2021.11 | 92.1 | 97.4 | 62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GCNet# Samples=25002022.01 | 92.1 | 98.4 | 63.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| REGTR2022.03 | 92 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.049 | 1.567 | — | — | — | — | — | |
| RegTR2022.01 | 92 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformer# Samples=50002022.01 | 92 | 97.9 | 71.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformer# Samples=50002022.02 | 92 | 97.9 | 71.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTrans2024.08 | 92 | — | 71.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransSamples=50002025.12 | 92 | 97.9 | 71.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CMHANet# Samples=5002026.03 | 92 | 98.6 | 83.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoITrSamples=50002025.12 | 91.9 | 98 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DCATrSamples=5002025.12 | 91.9 | 98 | 81 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CMHANet# Samples=10002026.03 | 91.9 | 98.6 | 78.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PredatorRegistration Protocol=RANSAC2021.11 | 91.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7.8 | 2.72 | — | — | — | — | — | |
| Predator2021.11 | 91.8 | 96.7 | 58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformer# Samples=25002022.01 | 91.8 | 97.9 | 75.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformer# Samples=10002022.01 | 91.8 | 97.9 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformer# Samples=25002022.02 | 91.8 | 97.9 | 75.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformer# Samples=10002022.02 | 91.8 | 97.9 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransSamples=25002025.12 | 91.8 | 97.9 | 75.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransSamples=10002025.12 | 91.8 | 97.9 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoITrSamples=10002025.12 | 91.8 | 97.9 | 83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoITrSamples=25002025.12 | 91.7 | 98 | 82.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CMHANet# Samples=2502026.03 | 91.7 | 98.4 | 86.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DCATrSamples=2502025.12 | 91.6 | 98.1 | 76.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RANSACDescriptor=FCGF2023.04 | 91.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 7.54 | 2.49 | 6.43 | — | — | — | — | |
| SGHRPose Graph Type=Full, Pairwise Registration Algorithm=GeoTrans, #Pair=119052023.04 | 91.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformer2025.05 | 91.5 | 97.9 | 71.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCR-CGretrained=true2025.05 | 91.5 | 97.2 | 57.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DHV2021.09 | 91.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformer# Samples=5002022.01 | 91.4 | 97.9 | 82.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DHVRFeature Extractor=FCGF2023.07 | 91.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.61 | 2.08 | — | — | |
| GeoTransformer# Samples=5002022.02 | 91.4 | 97.9 | 82.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCGF+DHVRDescriptor=FCGF, Estimator=DHVR2022.02 | 91.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.61 | 2.08 | — | — |