# Point Cloud Registration on ColorKitti (test) Source: [Point Cloud Registration on ColorKitti (test)]() Collection index: [llms.txt]() Data updated: 2026-04-21T11:46:07.456Z Evaluation of Point Cloud Registration performance on the test split of the ColorKitti dataset, measured using metrics including Relative Translation Error (RTE), Relative Rotation Error (RRE), and Recall Rate (RR). 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) | ColorKitti (test) | | Metric | RTE (cm) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 13 of 13 | | 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 - [RTE (cm)](): Lower is better; unit: SCALAR. - [RRE (°)](): Lower is better; unit: SCALAR. - [Recall Rate (%)](): Higher is better; unit: PERCENT. ## Recorded results | Method | RTE (cm) | Result date | Report paper | | --- | --- | --- | --- | | GeGS-PCR | 5.7 | Not recorded | 69e705017d0172140ec7f192 | | GeGS-PCR | 6.3 | Not recorded | 69e705017d0172140ec7f192 | | Predator | 6.8 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer | 6.8 | Not recorded | 69e705017d0172140ec7f192 | | D3Feat | 7.2 | Not recorded | 69e705017d0172140ec7f192 | | GeoTransformer | 7.4 | Not recorded | 69e705017d0172140ec7f192 | | CoFiNet | 8.2 | Not recorded | 69e705017d0172140ec7f192 | | FCGF | 9.5 | Not recorded | 69e705017d0172140ec7f192 | | SpinNet | 9.9 | Not recorded | 69e705017d0172140ec7f192 | | HRegNet | 12 | Not recorded | 69e705017d0172140ec7f192 | | 3DFeat-Net | 25.9 | Not recorded | 69e705017d0172140ec7f192 | | DGR | 32 | Not recorded | 69e705017d0172140ec7f192 | | FMR | 66 | Not recorded | 69e705017d0172140ec7f192 | ### GeGS-PCR RTE (cm): 5.7. Result ID: 69e7628c47f34ce924cebe7e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Registration strategy":"LGR"}. This record does not assert independent reproduction. ### GeGS-PCR RTE (cm): 6.3. Result ID: 69e7628c47f34ce924cebe79. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Registration strategy":"RANSAC","RANSAC iterations":"50k"}. This record does not assert independent reproduction. ### Predator RTE (cm): 6.8. Result ID: 69e7628c47f34ce924cebe76. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Registration strategy":"RANSAC"}. This record does not assert independent reproduction. ### GeoTransformer RTE (cm): 6.8. Result ID: 69e7628c47f34ce924cebe7d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Registration strategy":"LGR"}. This record does not assert independent reproduction. ### D3Feat RTE (cm): 7.2. Result ID: 69e7628c47f34ce924cebe74. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Registration strategy":"RANSAC"}. This record does not assert independent reproduction. ### GeoTransformer RTE (cm): 7.4. Result ID: 69e7628c47f34ce924cebe78. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Registration strategy":"RANSAC"}. This record does not assert independent reproduction. ### CoFiNet RTE (cm): 8.2. Result ID: 69e7628c47f34ce924cebe77. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Registration strategy":"RANSAC"}. This record does not assert independent reproduction. ### FCGF RTE (cm): 9.5. Result ID: 69e7628c47f34ce924cebe73. [Reporting paper]() Recorded evaluation configuration: {"Registration strategy":"RANSAC"}. This record does not assert independent reproduction. ### SpinNet RTE (cm): 9.9. Result ID: 69e7628c47f34ce924cebe75. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Registration strategy":"RANSAC"}. This record does not assert independent reproduction. ### HRegNet RTE (cm): 12. Result ID: 69e7628c47f34ce924cebe7c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Registration strategy":"None (w/o RANSAC)"}. This record does not assert independent reproduction. ### 3DFeat-Net RTE (cm): 25.9. Result ID: 69e7628c47f34ce924cebe72. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Registration strategy":"RANSAC"}. This record does not assert independent reproduction. ### DGR RTE (cm): 32. Result ID: 69e7628c47f34ce924cebe7b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Registration strategy":"None (w/o RANSAC)"}. This record does not assert independent reproduction. ### FMR RTE (cm): 66. Result ID: 69e7628c47f34ce924cebe7a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Registration strategy":"None (w/o RANSAC)"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.