# Point Cloud Registration on C3DLM (Color3DLoMatch)

Source: [Point Cloud Registration on C3DLM (Color3DLoMatch)](<https://www.sota2.com/research/sota/point-cloud-registration-on-c3dlm-color3dlomatch>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-21T11:46:07.553Z

Evaluation of Point Cloud Registration performance on the C3DLM (Color3DLoMatch) dataset, reporting metrics such as Rotational Relative Error (RRE) and Rotational Translation Error (RTE).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Point Cloud Registration |
| Dataset (including any stated split) | C3DLM (Color3DLoMatch) |
| Metric | Rotational Relative Error (°) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 7 of 7 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Rotational Relative Error (°)](<https://www.sota2.com/research/sota/point-cloud-registration-on-c3dlm-color3dlomatch.md?metric=Rotational%20Relative%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [Rotational Translation Error (m)](<https://www.sota2.com/research/sota/point-cloud-registration-on-c3dlm-color3dlomatch.md?metric=Rotational%20Translation%20Error%20(m)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | Rotational Relative Error (°) | Result date | Report paper |
| --- | --- | --- | --- |
| GeGS-PCR | 2.293 | Not recorded | 69e705017d0172140ec7f192 |
| ColorPCR | 2.581 | Not recorded | 69e705017d0172140ec7f192 |
| PEAL | 2.788 | Not recorded | 69e705017d0172140ec7f192 |
| REGTR | 2.827 | Not recorded | 69e705017d0172140ec7f192 |
| GeoTransformer | 2.849 | Not recorded | 69e705017d0172140ec7f192 |
| Predator | 3.048 | Not recorded | 69e705017d0172140ec7f192 |
| CoFiNet | 3.271 | Not recorded | 69e705017d0172140ec7f192 |

### GeGS-PCR

Rotational Relative Error (°): 2.293. Result ID: 69e7628c47f34ce924cebec8.

[Reporting paper](<https://www.sota2.com/research/paper/69e705017d0172140ec7f192.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69e705017d0172140ec7f192.md>)

Recorded evaluation configuration: {"Estimator":"RANSAC-free"}. This record does not assert independent reproduction.

### ColorPCR

Rotational Relative Error (°): 2.581. Result ID: 69e7628c47f34ce924cebec7.

[Reporting paper](<https://www.sota2.com/research/paper/69e705017d0172140ec7f192.md>)

Recorded evaluation configuration: {"Estimator":"RANSAC-free"}. This record does not assert independent reproduction.

### PEAL

Rotational Relative Error (°): 2.788. Result ID: 69e7628c47f34ce924cebec6.

[Reporting paper](<https://www.sota2.com/research/paper/69e705017d0172140ec7f192.md>)

Recorded evaluation configuration: {"Estimator":"RANSAC-free"}. This record does not assert independent reproduction.

### REGTR

Rotational Relative Error (°): 2.827. Result ID: 69e7628c47f34ce924cebec5.

[Reporting paper](<https://www.sota2.com/research/paper/69e705017d0172140ec7f192.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c1c1e209131cea3246d.md>)

[Implementation](<https://github.com/yewzijian/RegTR>)

Recorded evaluation configuration: {"Estimator":"RANSAC-free"}. This record does not assert independent reproduction.

### GeoTransformer

Rotational Relative Error (°): 2.849. Result ID: 69e7628c47f34ce924cebec4.

[Reporting paper](<https://www.sota2.com/research/paper/69e705017d0172140ec7f192.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa700d1e209131cea48df8.md>)

[Implementation](<https://github.com/qinzheng93/GeoTransformer>)

Recorded evaluation configuration: {"Estimator":"RANSAC-free"}. This record does not assert independent reproduction.

### Predator

Rotational Relative Error (°): 3.048. Result ID: 69e7628c47f34ce924cebec2.

[Reporting paper](<https://www.sota2.com/research/paper/69e705017d0172140ec7f192.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a7e1e209131cea28a0a.md>)

[Implementation](<https://www.sota2.com/overlappredator.github.io>)

Recorded evaluation configuration: {"Estimator":"RANSAC-50k"}. This record does not assert independent reproduction.

### CoFiNet

Rotational Relative Error (°): 3.271. Result ID: 69e7628c47f34ce924cebec3.

[Reporting paper](<https://www.sota2.com/research/paper/69e705017d0172140ec7f192.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b171e209131cea2c14f.md>)

Recorded evaluation configuration: {"Estimator":"RANSAC-50k"}. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.