# Point Cloud Registration on Color3DLoMatch (C3DLM) indoor Source: [Point Cloud Registration on Color3DLoMatch (C3DLM) indoor]() Collection index: [llms.txt]() Data updated: 2026-04-21T11:46:07.423Z Evaluation of Point Cloud Registration performance on the Color3DLoMatch (C3DLM) indoor dataset, focusing on metrics like Registration Recall and various timing components (Model Time, Pose Time, Total Time). 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) | Color3DLoMatch (C3DLM) indoor | | Metric | Registration Recall | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 14 of 14 | | 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 - [Registration Recall](): Higher is better; unit: PERCENT. - [Model Time](): Lower is better; unit: TIME. - [Pose Time](): Lower is better; unit: TIME. - [Total Time](): Lower is better; unit: TIME. ## Recorded results | Method | Registration Recall | Result date | Report paper | | --- | --- | --- | --- | | GeGS-PCR | 90.7 | Not recorded | 69e705017d0172140ec7f192 | | GeGS-PCR | 89.1 | Not recorded | 69e705017d0172140ec7f192 | | ColorPCR | 88.3 | Not recorded | 69e705017d0172140ec7f192 | | ColorPCR | 88.2 | Not recorded | 69e705017d0172140ec7f192 | | PEAL | 81.7 | Not recorded | 69e705017d0172140ec7f192 | | PEAL | 78.8 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer | 75 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer | 74 | Not recorded | 69e705017d0172140ec7f192 | | CoFiNet | 67.5 | Not recorded | 69e705017d0172140ec7f192 | | CoFiNet | 64.8 | Not recorded | 69e705017d0172140ec7f192 | | SpinNet | 59.8 | Not recorded | 69e705017d0172140ec7f192 | | Predator | 59.8 | Not recorded | 69e705017d0172140ec7f192 | | FCGF | 40.1 | Not recorded | 69e705017d0172140ec7f192 | | D3Feat | 37.2 | Not recorded | 69e705017d0172140ec7f192 | ### GeGS-PCR Registration Recall: 90.7. Result ID: 69e7628c47f34ce924cebe6c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### GeGS-PCR Registration Recall: 89.1. Result ID: 69e7628c47f34ce924cebe71. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-free","#Sample":"all"}. This record does not assert independent reproduction. ### ColorPCR Registration Recall: 88.3. Result ID: 69e7628c47f34ce924cebe70. [Reporting paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-free","#Sample":"all"}. This record does not assert independent reproduction. ### ColorPCR Registration Recall: 88.2. Result ID: 69e7628c47f34ce924cebe6b. [Reporting paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### PEAL Registration Recall: 81.7. Result ID: 69e7628c47f34ce924cebe6a. [Reporting paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### PEAL Registration Recall: 78.8. Result ID: 69e7628c47f34ce924cebe6f. [Reporting paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-free","#Sample":"all"}. This record does not assert independent reproduction. ### GeoTransformer Registration Recall: 75. Result ID: 69e7628c47f34ce924cebe69. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### GeoTransformer Registration Recall: 74. Result ID: 69e7628c47f34ce924cebe6e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Estimator":"RANSAC-free","#Sample":"all"}. This record does not assert independent reproduction. ### CoFiNet Registration Recall: 67.5. Result ID: 69e7628c47f34ce924cebe68. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### CoFiNet Registration Recall: 64.8. Result ID: 69e7628c47f34ce924cebe6d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-free","#Sample":"all"}. This record does not assert independent reproduction. ### SpinNet Registration Recall: 59.8. Result ID: 69e7628c47f34ce924cebe66. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### Predator Registration Recall: 59.8. Result ID: 69e7628c47f34ce924cebe67. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### FCGF Registration Recall: 40.1. Result ID: 69e7628c47f34ce924cebe64. [Reporting paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### D3Feat Registration Recall: 37.2. Result ID: 69e7628c47f34ce924cebe65. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.