# Point Cloud Registration on Color3DMatch (C3DM) indoor Source: [Point Cloud Registration on Color3DMatch (C3DM) indoor]() Collection index: [llms.txt]() Data updated: 2026-04-21T11:46:07.391Z Evaluation of Point Cloud Registration performance on the Color3DMatch (C3DM) indoor dataset, typically measured using metrics like Registration Recall, Model Time, Pose Time, and 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) | Color3DMatch (C3DM) 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 | 97.9 | Not recorded | 69e705017d0172140ec7f192 | | ColorPCR | 97.5 | Not recorded | 69e705017d0172140ec7f192 | | GeGS-PCR | 97.5 | Not recorded | 69e705017d0172140ec7f192 | | ColorPCR | 97.3 | Not recorded | 69e705017d0172140ec7f192 | | PEAL | 94.6 | Not recorded | 69e705017d0172140ec7f192 | | PEAL | 94.3 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer | 92 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer | 91.5 | Not recorded | 69e705017d0172140ec7f192 | | CoFiNet | 89.3 | Not recorded | 69e705017d0172140ec7f192 | | Predator | 89 | Not recorded | 69e705017d0172140ec7f192 | | SpinNet | 88.6 | Not recorded | 69e705017d0172140ec7f192 | | CoFiNet | 87.6 | Not recorded | 69e705017d0172140ec7f192 | | FCGF | 85.1 | Not recorded | 69e705017d0172140ec7f192 | | D3Feat | 81.6 | Not recorded | 69e705017d0172140ec7f192 | ### GeGS-PCR Registration Recall: 97.9. Result ID: 69e7628c47f34ce924cebe5e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### ColorPCR Registration Recall: 97.5. Result ID: 69e7628c47f34ce924cebe5d. [Reporting paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### GeGS-PCR Registration Recall: 97.5. Result ID: 69e7628c47f34ce924cebe63. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-free","#Sample":"all"}. This record does not assert independent reproduction. ### ColorPCR Registration Recall: 97.3. Result ID: 69e7628c47f34ce924cebe62. [Reporting paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-free","#Sample":"all"}. This record does not assert independent reproduction. ### PEAL Registration Recall: 94.6. Result ID: 69e7628c47f34ce924cebe5c. [Reporting paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### PEAL Registration Recall: 94.3. Result ID: 69e7628c47f34ce924cebe61. [Reporting paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-free","#Sample":"all"}. This record does not assert independent reproduction. ### GeoTransformer Registration Recall: 92. Result ID: 69e7628c47f34ce924cebe5b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### GeoTransformer Registration Recall: 91.5. Result ID: 69e7628c47f34ce924cebe60. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Estimator":"RANSAC-free","#Sample":"all"}. This record does not assert independent reproduction. ### CoFiNet Registration Recall: 89.3. Result ID: 69e7628c47f34ce924cebe5a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### Predator Registration Recall: 89. Result ID: 69e7628c47f34ce924cebe59. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### SpinNet Registration Recall: 88.6. Result ID: 69e7628c47f34ce924cebe58. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### CoFiNet Registration Recall: 87.6. Result ID: 69e7628c47f34ce924cebe5f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-free","#Sample":"all"}. This record does not assert independent reproduction. ### FCGF Registration Recall: 85.1. Result ID: 69e7628c47f34ce924cebe56. [Reporting paper]() Recorded evaluation configuration: {"Estimator":"RANSAC-50k","#Sample":"5000"}. This record does not assert independent reproduction. ### D3Feat Registration Recall: 81.6. Result ID: 69e7628c47f34ce924cebe57. [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.