Point Cloud Registration on CSLiDAR Protocol B +/-5 m +/-15 deg (All 6 sites)
88.8Overall Success Rate (S@0.75 m)RGSR + FM
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| RGSR + FMablation=+FM2026.05 | 88.8 | — | — | — | — | — | — | — | — | |
| RGSRProtocol=B, Phases=1-3, tau_g=0.75 m2026.05 | 86 | 73.3 | 97.1 | 45 | 71.6 | 97.3 | 98.9 | 3 | 99.8 | |
| Confidence-Gated CascadeProtocol=B, tau_g=0.75 m2026.05 | 83.7 | 70.7 | 95.9 | 35.5 | 68.1 | 96.4 | 98.5 | 2.9 | 99.5 | |
| Two-Stage CTFProtocol=B2026.05 | 77.9 | — | — | — | — | — | — | — | — | |
| Standard CTFProtocol=B2026.05 | 76.7 | — | — | — | — | — | — | — | — | |
| GeoTransformer + CTFProtocol=B, Training=CSLiDAR-trained, Seeding=Estimated transform seeds CTF refinement2026.05 | 76.3 | 57.2 | 92.1 | 11.4 | 55.6 | 95.2 | 91.4 | 3.5 | 95 | |
| BUFFER-Xmode=zero-shot, pre-trained=3DMatch, scans=1,200 canonical scans2026.05 | 32.8 | — | — | — | — | — | — | — | — |