# Point Cloud Registration on Color3DMatch (C3DM) Source: [Point Cloud Registration on Color3DMatch (C3DM)]() Collection index: [llms.txt]() Data updated: 2026-04-21T11:46:07.488Z Evaluation of Point Cloud Registration performance on the Color3DMatch (C3DM) dataset, reporting metrics such as Feature Matching Recall, Inlier Ratio, and Registration Recall. 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) | | Metric | Registration Recall | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 30 of 30 | | 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. - [Feature Matching Recall](): Higher is better; unit: PERCENT. - [Inlier Ratio](): Higher is better; unit: PERCENT. ## Recorded results | Method | Registration Recall | Result date | Report paper | | --- | --- | --- | --- | | GeGS-PCR | 97.9 | Not recorded | 69e705017d0172140ec7f192 | | GeGS-PCR | 97.6 | Not recorded | 69e705017d0172140ec7f192 | | GeGS-PCR | 97.6 | Not recorded | 69e705017d0172140ec7f192 | | ColorPCR | 97.5 | Not recorded | 69e705017d0172140ec7f192 | | GeGS-PCR | 97.5 | Not recorded | 69e705017d0172140ec7f192 | | ColorPCR | 97 | Not recorded | 69e705017d0172140ec7f192 | | GeGS-PCR | 96.7 | Not recorded | 69e705017d0172140ec7f192 | | ColorPCR | 96.5 | Not recorded | 69e705017d0172140ec7f192 | | ColorPCR | 96.5 | Not recorded | 69e705017d0172140ec7f192 | | ColorPCR | 96.4 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer+MAC | 95.7 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer+MAC | 95.7 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer+MAC | 95.3 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer+MAC | 95.2 | Not recorded | 69e705017d0172140ec7f192 | | PEAL | 94.6 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer+MAC | 94.6 | Not recorded | 69e705017d0172140ec7f192 | | PEAL | 93.9 | Not recorded | 69e705017d0172140ec7f192 | | PEAL | 93.7 | Not recorded | 69e705017d0172140ec7f192 | | PEAL | 93.7 | Not recorded | 69e705017d0172140ec7f192 | | PEAL | 93.4 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer | 92 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer | 91.8 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer | 91.8 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer | 91.4 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer | 91.2 | Not recorded | 69e705017d0172140ec7f192 | | CoFiNet | 89.3 | Not recorded | 69e705017d0172140ec7f192 | | CoFiNet | 88.9 | Not recorded | 69e705017d0172140ec7f192 | | CoFiNet | 88.4 | Not recorded | 69e705017d0172140ec7f192 | | CoFiNet | 87.4 | Not recorded | 69e705017d0172140ec7f192 | | CoFiNet | 87 | Not recorded | 69e705017d0172140ec7f192 | ### GeGS-PCR Registration Recall: 97.9. Result ID: 69e7628c47f34ce924cebe98. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"#Samples":"5000"}. This record does not assert independent reproduction. ### GeGS-PCR Registration Recall: 97.6. Result ID: 69e7628c47f34ce924cebe99. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"#Samples":"2500"}. This record does not assert independent reproduction. ### GeGS-PCR Registration Recall: 97.6. Result ID: 69e7628c47f34ce924cebe9c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"#Samples":"250"}. This record does not assert independent reproduction. ### ColorPCR Registration Recall: 97.5. Result ID: 69e7628c47f34ce924cebe93. [Reporting paper]() Recorded evaluation configuration: {"#Samples":"5000"}. This record does not assert independent reproduction. ### GeGS-PCR Registration Recall: 97.5. Result ID: 69e7628c47f34ce924cebe9a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"#Samples":"1000"}. This record does not assert independent reproduction. ### ColorPCR Registration Recall: 97. Result ID: 69e7628c47f34ce924cebe95. [Reporting paper]() Recorded evaluation configuration: {"#Samples":"1000"}. This record does not assert independent reproduction. ### GeGS-PCR Registration Recall: 96.7. Result ID: 69e7628c47f34ce924cebe9b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"#Samples":"500"}. This record does not assert independent reproduction. ### ColorPCR Registration Recall: 96.5. Result ID: 69e7628c47f34ce924cebe94. [Reporting paper]() Recorded evaluation configuration: {"#Samples":"2500"}. This record does not assert independent reproduction. ### ColorPCR Registration Recall: 96.5. Result ID: 69e7628c47f34ce924cebe97. [Reporting paper]() Recorded evaluation configuration: {"#Samples":"250"}. This record does not assert independent reproduction. ### ColorPCR Registration Recall: 96.4. Result ID: 69e7628c47f34ce924cebe96. [Reporting paper]() Recorded evaluation configuration: {"#Samples":"500"}. This record does not assert independent reproduction. ### GeoTransformer+MAC Registration Recall: 95.7. Result ID: 69e7628c47f34ce924cebe8e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"#Samples":"5000"}. This record does not assert independent reproduction. ### GeoTransformer+MAC Registration Recall: 95.7. Result ID: 69e7628c47f34ce924cebe8f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"#Samples":"2500"}. This record does not assert independent reproduction. ### GeoTransformer+MAC Registration Recall: 95.3. Result ID: 69e7628c47f34ce924cebe91. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"#Samples":"500"}. This record does not assert independent reproduction. ### GeoTransformer+MAC Registration Recall: 95.2. Result ID: 69e7628c47f34ce924cebe90. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"#Samples":"1000"}. This record does not assert independent reproduction. ### PEAL Registration Recall: 94.6. Result ID: 69e7628c47f34ce924cebe89. [Reporting paper]() Recorded evaluation configuration: {"#Samples":"5000"}. This record does not assert independent reproduction. ### GeoTransformer+MAC Registration Recall: 94.6. Result ID: 69e7628c47f34ce924cebe92. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"#Samples":"250"}. This record does not assert independent reproduction. ### PEAL Registration Recall: 93.9. Result ID: 69e7628c47f34ce924cebe8c. [Reporting paper]() Recorded evaluation configuration: {"#Samples":"500"}. This record does not assert independent reproduction. ### PEAL Registration Recall: 93.7. Result ID: 69e7628c47f34ce924cebe8a. [Reporting paper]() Recorded evaluation configuration: {"#Samples":"2500"}. This record does not assert independent reproduction. ### PEAL Registration Recall: 93.7. Result ID: 69e7628c47f34ce924cebe8b. [Reporting paper]() Recorded evaluation configuration: {"#Samples":"1000"}. This record does not assert independent reproduction. ### PEAL Registration Recall: 93.4. Result ID: 69e7628c47f34ce924cebe8d. [Reporting paper]() Recorded evaluation configuration: {"#Samples":"250"}. This record does not assert independent reproduction. ### GeoTransformer Registration Recall: 92. Result ID: 69e7628c47f34ce924cebe84. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"#Samples":"5000"}. This record does not assert independent reproduction. ### GeoTransformer Registration Recall: 91.8. Result ID: 69e7628c47f34ce924cebe85. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"#Samples":"2500"}. This record does not assert independent reproduction. ### GeoTransformer Registration Recall: 91.8. Result ID: 69e7628c47f34ce924cebe86. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"#Samples":"1000"}. This record does not assert independent reproduction. ### GeoTransformer Registration Recall: 91.4. Result ID: 69e7628c47f34ce924cebe87. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"#Samples":"500"}. This record does not assert independent reproduction. ### GeoTransformer Registration Recall: 91.2. Result ID: 69e7628c47f34ce924cebe88. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"#Samples":"250"}. This record does not assert independent reproduction. ### CoFiNet Registration Recall: 89.3. Result ID: 69e7628c47f34ce924cebe7f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"#Samples":"5000"}. This record does not assert independent reproduction. ### CoFiNet Registration Recall: 88.9. Result ID: 69e7628c47f34ce924cebe80. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"#Samples":"2500"}. This record does not assert independent reproduction. ### CoFiNet Registration Recall: 88.4. Result ID: 69e7628c47f34ce924cebe81. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"#Samples":"1000"}. This record does not assert independent reproduction. ### CoFiNet Registration Recall: 87.4. Result ID: 69e7628c47f34ce924cebe82. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"#Samples":"500"}. This record does not assert independent reproduction. ### CoFiNet Registration Recall: 87. Result ID: 69e7628c47f34ce924cebe83. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"#Samples":"250"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.