Point Cloud Registration on KITTI
100RRPredator
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| PredatorRegistration Criterion=Loose (5°, 2m)2023.05 | 100 | 0.31 | 7.4 | |
| Predator+APR(a)Registration Criterion=Loose (5°, 2m), Design=Asymmetrical2023.05 | 100 | 0.3 | 7.3 | |
| IGASA2026.03 | 100 | 0.24 | 4.6 | |
| CAST2025.06 | 100 | 0.27 | 2.5 | |
| MT-PCR2025.06 | 100 | 0.16 | 2.6 | |
| PARENet2026.07 | 99.82 | — | — | |
| Ours2026.07 | 99.82 | — | — | |
| D3Feat2024.03 | 99.8 | 0.3 | 7.2 | |
| Predator2024.03 | 99.8 | 0.27 | 6.8 | |
| GeoTr.2024.03 | 99.8 | 0.24 | 6.8 | |
| PEAL2024.03 | 99.8 | 0.23 | 6.8 | |
| ODIN2024.03 | 99.8 | 0.14 | 3.6 | |
| Predator2026.03 | 99.8 | 0.27 | 6.8 | |
| CoFiNet2026.03 | 99.8 | 0.41 | 8.2 | |
| GeoTransformer2026.03 | 99.8 | 0.24 | 6.8 | |
| OIF-Net2026.03 | 99.8 | 0.23 | 6.5 | |
| D3Feat2025.06 | 99.8 | 0.3 | 7.2 | |
| Predator2025.06 | 99.8 | 0.27 | 6.8 | |
| CoFiNet2025.06 | 99.8 | 0.41 | 8.2 | |
| GeoTrans2025.06 | 99.8 | 0.24 | 6.8 | |
| OIF-Net2025.06 | 99.8 | 0.23 | 6.5 | |
| PEAL2025.06 | 99.8 | 0.23 | 6.8 | |
| DiffusionPCR2025.06 | 99.8 | 0.23 | 6.3 | |
| HRegNet2026.03 | 99.7 | 0.29 | 12 | |
| BUFFER2026.07 | 99.64 | — | — | |
| CoFiNetRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 99.6 | — | — | |
| MAC2026.03 | 99.5 | 0.4 | 8.5 | |
| MAC2025.06 | 99.5 | 0.4 | 8.5 | |
| PredatorRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 99.3 | — | — | |
| GCL+KPConvBackbone=KPConv, Registration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 99.1 | — | — | |
| SpinNet2025.06 | 99.1 | 0.47 | 9.9 | |
| FPFH+Quatro2026.07 | 99.1 | — | — | |
| FCGF+APR(s)Registration Criterion=Loose (5°, 2m), Design=Symmetrical2023.05 | 99 | 0.3 | 10 | |
| Predator+APR(a)Registration Criterion=Normal (1.5°, 0.6m), Design=Asymmetrical2023.05 | 99 | 0.28 | 7.3 | |
| FPFH+TEASER++2026.07 | 98.92 | — | — | |
| FPFH+FGR2026.07 | 98.74 | — | — | |
| D3FeatRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 98.7 | — | — | |
| PredatorRegistration Criterion=Normal (1.5°, 0.6m)2023.05 | 98.5 | 0.3 | 7.4 | |
| GCL+ConvBackbone=Conv, Registration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 98.4 | — | — | |
| FCGFRegistration Criterion=Loose (5°, 2m)2023.05 | 98.2 | 0.35 | 10.6 | |
| FCGF+APR(a)Registration Criterion=Loose (5°, 2m), Design=Asymmetrical2023.05 | 98.2 | 0.34 | 9.6 | |
| GeoTransformerRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 97.9 | — | — | |
| FastMACratio=50, Time (ms)=114.42024.03 | 97.84 | 0.36 | 7.98 | |
| SpinNetRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 97.6 | — | — | |
| FastMACratio=20, Time (ms)=28.12024.03 | 97.48 | 0.38 | 8.2 | |
| Predator+APR(a)APR variant=asymmetrical2023.05 | 97.4 | — | — | |
| FastMACratio=10, Time (ms)=18.22024.03 | 97.3 | 0.43 | 8.7 | |
| MACratio=100, Time (ms)=573.02024.03 | 97.25 | 0.36 | 8 | |
| SC2-PCRratio=100, Time (ms)=851.12024.03 | 97.12 | 0.41 | 9.71 | |
| FastMACratio=5, Time (ms)=16.12024.03 | 97.12 | 0.52 | 9.92 | |
| FCGF+APR(a)Registration Criterion=Normal (1.5°, 0.6m), Design=Asymmetrical2023.05 | 97.1 | 0.3 | 9.6 | |
| FCGF+APR(s)Registration Criterion=Normal (1.5°, 0.6m), Design=Symmetrical2023.05 | 97.1 | 0.28 | 9.4 | |
| FCGFRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 97 | — | — | |
| FCGFRegistration Criterion=Normal (1.5°, 0.6m)2023.05 | 96.9 | 0.27 | 8.1 | |
| Predator2023.05 | 96.8 | — | — | |
| PredatorRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 96.8 | — | — | |
| PointDSC(icp)ratio=100, Time (ms)=130.52024.03 | 96.76 | 0.51 | 11.2 | |
| FCGF2026.03 | 96.6 | 0.3 | 9.5 | |
| FCGF2025.06 | 96.6 | 0.3 | 9.5 | |
| GCL+KPConvBackbone=KPConv, Registration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 96.5 | — | — | |
| PointDSCratio=100, Time (ms)=131.02024.03 | 96.4 | 0.61 | 13.42 | |
| PointDSC(50k)ratio=100, Time (ms)=722.42024.03 | 96.4 | 0.51 | 11.53 | |
| GCL+ConvBackbone=Conv, Registration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 96.1 | — | — | |
| FCGF2024.03 | 96 | 0.3 | 9.5 | |
| 3DFeat-Net2026.03 | 96 | 0.25 | 25.9 | |
| 3DFeat-Net2025.06 | 96 | 0.25 | 25.9 | |
| DGRratio=100, Time (ms)=330.12024.03 | 95.14 | 0.43 | 23.28 | |
| RANSAC 100KTime (ms)=1549.72024.03 | 94.77 | 0.77 | 17.83 | |
| CoFiNet2023.05 | 94.2 | — | — | |
| CoFiNetRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 94.2 | — | — | |
| GCL+ConvBackbone=Conv, Registration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 94.1 | — | — | |
| FCGF+APR(s)APR variant=symmetrical2023.05 | 93 | — | — | |
| GeoTransformer2026.07 | 92 | — | — | |
| PredatorRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 90.2 | — | — | |
| Predator2026.07 | 89.9 | — | — | |
| GCL+KPConvBackbone=KPConv, Registration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 89.3 | — | — | |
| FCGF+APR(a)APR variant=asymmetrical2023.05 | 88.9 | — | — | |
| RANSAC 10KTime (ms)=158.42024.03 | 88.47 | 1.15 | 25.33 | |
| GeoTransformer2023.05 | 88.3 | — | — | |
| GeoTransformerRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 88.3 | — | — | |
| Predator+APR(a)Registration Criterion=Strict (0.5°, 0.3m), Design=Asymmetrical2023.05 | 88 | 0.23 | 7.2 | |
| FCGF+APR(a)Registration Criterion=Strict (0.5°, 0.3m), Design=Asymmetrical2023.05 | 86.9 | 0.22 | 8.6 | |
| D3Feat2023.05 | 86.8 | — | — | |
| D3FeatRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 86.8 | — | — | |
| FCGF2023.05 | 85.4 | — | — | |
| FCGFRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 85.4 | — | — | |
| FCGFRegistration Criterion=Strict (0.5°, 0.3m)2023.05 | 85.3 | 0.2 | 7.8 | |
| PredatorRegistration Criterion=Strict (0.5°, 0.3m)2023.05 | 85.3 | 0.24 | 7.2 | |
| FCGF+APR(s)Registration Criterion=Strict (0.5°, 0.3m), Design=Symmetrical2023.05 | 84.7 | 0.21 | 9.2 | |
| CoFiNetRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 80 | — | — | |
| SpinNet2023.05 | 73.1 | — | — | |
| SpinNetRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 73.1 | — | — | |
| FastMACratio=1, Time (ms)=15.52024.03 | 71.56 | 1.02 | 15.24 | |
| GCL+ConvBackbone=Conv, Registration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 67.6 | — | — | |
| RANSAC 1KTime (ms)=19.92024.03 | 56.58 | 1.74 | 33.12 | |
| FCGFRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 54.1 | — | — | |
| GCL+KPConvBackbone=KPConv, Registration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 54.1 | — | — | |
| D3FeatRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 52.7 | — | — | |
| PredatorRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 26.7 | — | — | |
| CoFiNetRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 24.3 | — | — |