# Point Cloud Registration on C3DM (Color3DMatch)

Source: [Point Cloud Registration on C3DM (Color3DMatch)](<https://www.sota2.com/research/sota/point-cloud-registration-on-c3dm-color3dmatch>)

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

Data updated: 2026-04-21T11:46:07.518Z

Evaluation of 3D Point Cloud Registration performance on the Color3DMatch (C3DM) dataset, reporting metrics such as Rotational Registration Error (RRE) and Translational Registration 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) | C3DM (Color3DMatch) |
| Metric | RRE (°) |
| 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

- [RRE (°)](<https://www.sota2.com/research/sota/point-cloud-registration-on-c3dm-color3dmatch.md?metric=RRE%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [RTE (m)](<https://www.sota2.com/research/sota/point-cloud-registration-on-c3dm-color3dmatch.md?metric=RTE%20(m)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | RRE (°) | Result date | Report paper |
| --- | --- | --- | --- |
| GeGS-PCR | 1.112 | Not recorded | 69e705017d0172140ec7f192 |
| ColorPCR | 1.492 | Not recorded | 69e705017d0172140ec7f192 |
| REGTR | 1.567 | Not recorded | 69e705017d0172140ec7f192 |
| PEAL | 1.748 | Not recorded | 69e705017d0172140ec7f192 |
| GeoTransformer | 1.772 | Not recorded | 69e705017d0172140ec7f192 |
| CoFiNet | 2.002 | Not recorded | 69e705017d0172140ec7f192 |
| Predator | 2.029 | Not recorded | 69e705017d0172140ec7f192 |

### GeGS-PCR

RRE (°): 1.112. Result ID: 69e7628c47f34ce924cebec1.

[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

RRE (°): 1.492. Result ID: 69e7628c47f34ce924cebec0.

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

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

### REGTR

RRE (°): 1.567. Result ID: 69e7628c47f34ce924cebebe.

[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.

### PEAL

RRE (°): 1.748. Result ID: 69e7628c47f34ce924cebebf.

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

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

### GeoTransformer

RRE (°): 1.772. Result ID: 69e7628c47f34ce924cebebd.

[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.

### CoFiNet

RRE (°): 2.002. Result ID: 69e7628c47f34ce924cebebc.

[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.

### Predator

RRE (°): 2.029. Result ID: 69e7628c47f34ce924cebebb.

[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.

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