Point Cloud Registration on ETH
100Success RateISS + SI
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| ISS + SI2018.07 | 100 | — | — | 93.7 | — | — | — | — | |
| ISS + USC2018.07 | 100 | — | — | 100 | — | — | — | — | |
| ISS + CGF2018.07 | 100 | — | — | 92.1 | — | — | — | — | |
| ISS + 3DMatch2018.07 | 100 | — | — | 33.3 | — | — | — | — | |
| 3DFeat-Net (Our Kpt + Desc)2018.07 | 100 | — | — | 95.2 | — | — | — | — | |
| 3DSmoothNetDetector=Random2020.07 | 100 | 0.18 | 2.73 | — | 986 | — | — | — | |
| DH3DDetector=Random2020.07 | 100 | 0.25 | 3.47 | — | 5,685 | — | — | — | |
| 3DSmoothNetDetector=ISS2020.07 | 100 | 0.15 | 2.4 | — | 986 | — | — | — | |
| 3DSmoothNetDetector=Harris-3D2020.07 | 100 | 0.15 | 2.41 | — | 788 | — | — | — | |
| 3DSmoothNetDetector=3DFeatNet2020.07 | 100 | 0.17 | 2.73 | — | 1,795 | — | — | — | |
| 3DSmoothNetDetector=USIP2020.07 | 100 | 0.18 | 2.61 | — | 1,604 | — | — | — | |
| 3DSmoothNetDetector=DH3D2020.07 | 100 | 0.38 | 3.49 | — | 5,108 | — | — | — | |
| DH3DDetector=DH3D2020.07 | 95.7 | 0.3 | 2.02 | — | 3,107 | — | — | — | |
| 3DFeatNetDetector=DH3D2020.07 | 95.5 | 0.36 | 2.38 | — | 3,421 | — | — | — | |
| SIDetector=Random2020.07 | 95.2 | 0.36 | 4.36 | — | 7,535 | — | — | — | |
| 3DFeatNetDetector=Random2020.07 | 95.2 | 0.3 | 4.06 | — | 6,898 | — | — | — | |
| 3DFeatNetDetector=3DFeatNet2020.07 | 95.2 | 0.33 | 4.5 | — | 6,058 | — | — | — | |
| DH3DDetector=USIP2020.07 | 95.2 | 0.29 | 3.29 | — | 4,312 | — | — | — | |
| DH3DDetector=ISS2020.07 | 93.8 | 0.19 | 2.8 | — | 3,635 | — | — | — | |
| SIDetector=ISS2020.07 | 93.7 | 0.37 | 5.07 | — | 7,706 | — | — | — | |
| DH3DDetector=3DFeatNet2020.07 | 93.7 | 0.27 | 3.58 | — | 6,462 | — | — | — | |
| DH3DDetector=Harris-3D2020.07 | 93.4 | 0.22 | 3.47 | — | 4,524 | — | — | — | |
| SIDetector=USIP2020.07 | 92.1 | 0.32 | 4.06 | — | 6,900 | — | — | — | |
| RS + 3DMatch2018.07 | 91.7 | — | — | 33.3 | — | — | — | — | |
| 3DFeatNetDetector=ISS2020.07 | 90.5 | 0.31 | 3.86 | — | 6,518 | — | — | — | |
| SIDetector=Harris-3D2020.07 | 90.5 | 0.35 | 4.83 | — | 8,122 | — | — | — | |
| 3DFeatNetDetector=Harris-3D2020.07 | 88.9 | 0.27 | 3.96 | — | 6,472 | — | — | — | |
| SIDetector=3DFeatNet2020.07 | 87.3 | 0.35 | 5.77 | — | 7,424 | — | — | — | |
| LORAX2018.07 | 83 | — | — | — | — | — | — | — | |
| 3DFeatNetDetector=USIP2020.07 | 82.5 | 0.31 | 3.49 | — | 7,060 | — | — | — | |
| SIDetector=DH3D2020.07 | 81.3 | 0.42 | 4.65 | — | 7,922 | — | — | — | |
| FPFH2018.07 | 67 | — | — | — | — | — | — | — | |
| FCGFDetector=Random2020.07 | 17.46 | 0.69 | 52.87 | — | 10,000 | — | — | — | |
| FCGFDetector=USIP2020.07 | 15.87 | 0.54 | 27.62 | — | 10,000 | — | — | — | |
| FCGFDetector=DH3D2020.07 | 15.87 | 0.56 | 48.01 | — | 10,000 | — | — | — | |
| FCGFDetector=ISS2020.07 | 6.35 | 0.65 | 24.78 | — | 10,000 | — | — | — | |
| FCGFDetector=Harris-3D2020.07 | 6.35 | 0.43 | 55.7 | — | 10,000 | — | — | — | |
| FCGFDetector=3DFeatNet2020.07 | 3.17 | 0.52 | 47.02 | — | 10,000 | — | — | — | |
| EIGSE3Pose Graph=Full, #Pair=21232023.04 | — | — | — | — | — | 44.8 | 56.3 | 60.9 | |
| EIGSE3Pose Graph=Pruned [21], #Pair=21232023.04 | — | — | — | — | — | 89.4 | 93.6 | 96.3 | |
| HARAPose Graph=Full, #Pair=21232023.04 | — | — | — | — | — | 72.2 | 79.3 | 85.4 | |
| HARAPose Graph=Pruned [21], #Pair=21232023.04 | — | — | — | — | — | 90.3 | 97.8 | 96 | |
| L1-IRLSPose Graph=Full, #Pair=21232023.04 | — | — | — | — | — | 60.5 | 73.2 | 77.2 | |
| L1-IRLSPose Graph=Pruned [21], #Pair=21232023.04 | — | — | — | — | — | 86.1 | 87.9 | 90.2 | |
| LITSPose Graph=Full, #Pair=21232023.04 | — | — | — | — | — | 26.3 | 36.4 | 34.8 | |
| LITSPose Graph=Pruned [21], #Pair=21232023.04 | — | — | — | — | — | 41.2 | 47.3 | 48.4 | |
| RotAvgPose Graph=Full, #Pair=21232023.04 | — | — | — | — | — | 67.3 | 82.1 | 85.4 | |
| RotAvgPose Graph=Pruned [21], #Pair=21232023.04 | — | — | — | — | — | 95.6 | 95.5 | 96.6 | |
| SGHRPose Graph=Full, #Pair=21232023.04 | — | — | — | — | — | 85.7 | 86.3 | 98.8 | |
| SGHRPose Graph=Pruned [21], #Pair=21232023.04 | — | — | — | — | — | 96.8 | 99.8 | 97.2 | |
| SGHRPose Graph=Ours, #Pair=5162023.04 | — | — | — | — | — | 97.4 | 99.8 | 99.1 |