# Point Cloud Registration on KITTI (\[20, 30\])

Source: [Point Cloud Registration on KITTI (\[20, 30\])](<https://www.sota2.com/research/sota/point-cloud-registration-on-kitti-20-30>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T06:01:20.525Z

Evaluation of Point Cloud Registration performance on the specified subset (\[20, 30\]) of the KITTI dataset, measured using 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) | KITTI (\[20, 30\]) |
| Metric | Recall Rate (%) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 9 of 9 |
| 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

- [Recall Rate (%)](<https://www.sota2.com/research/sota/point-cloud-registration-on-kitti-20-30.md?metric=Recall%20Rate%20(%25)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Recall Rate (%) | Result date | Report paper |
| --- | --- | --- | --- |
| Predator+APR(a) | 91.2 | Not recorded | 68fa6f4b1e209131cea44d83 |
| Predator | 90.2 | Not recorded | 68fa6f4b1e209131cea44d83 |
| CoFiNet | 80 | Not recorded | 68fa6f4b1e209131cea44d83 |
| FCGF+APR(s) | 58.4 | Not recorded | 68fa6f4b1e209131cea44d83 |
| FCGF+APR(a) | 55.7 | Not recorded | 68fa6f4b1e209131cea44d83 |
| FCGF | 54.1 | Not recorded | 68fa6f4b1e209131cea44d83 |
| D3Feat | 52.7 | Not recorded | 68fa6f4b1e209131cea44d83 |
| GeoTransformer | 8.3 | Not recorded | 68fa6f4b1e209131cea44d83 |
| SpinNet | 7.3 | Not recorded | 68fa6f4b1e209131cea44d83 |

### Predator+APR(a)

Recall Rate (%): 91.2. Result ID: 6990b5673a6c31484902a0ae.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

[Implementation](<https://github.com/liuQuan98/APR>)

Recorded evaluation configuration: {"APR variant":"asymmetrical"}. This record does not assert independent reproduction.

### Predator

Recall Rate (%): 90.2. Result ID: 6990b5673a6c31484902a0ad.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a7e1e209131cea28a0a.md>)

[Implementation](<https://www.sota2.com/overlappredator.github.io>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### CoFiNet

Recall Rate (%): 80. Result ID: 6990b5673a6c31484902a0a8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b171e209131cea2c14f.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### FCGF+APR(s)

Recall Rate (%): 58.4. Result ID: 6990b5673a6c31484902a0ac.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

[Implementation](<https://github.com/liuQuan98/APR>)

Recorded evaluation configuration: {"APR variant":"symmetrical"}. This record does not assert independent reproduction.

### FCGF+APR(a)

Recall Rate (%): 55.7. Result ID: 6990b5673a6c31484902a0ab.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

[Implementation](<https://github.com/liuQuan98/APR>)

Recorded evaluation configuration: {"APR variant":"asymmetrical"}. This record does not assert independent reproduction.

### FCGF

Recall Rate (%): 54.1. Result ID: 6990b5673a6c31484902a0aa.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### D3Feat

Recall Rate (%): 52.7. Result ID: 6990b5673a6c31484902a0a7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67201e209131cea1477f.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### GeoTransformer

Recall Rate (%): 8.3. Result ID: 6990b5673a6c31484902a0a9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa700d1e209131cea48df8.md>)

[Implementation](<https://github.com/qinzheng93/GeoTransformer>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SpinNet

Recall Rate (%): 7.3. Result ID: 6990b5673a6c31484902a0a6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6f4b1e209131cea44d83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b11e209131cea23726.md>)

[Implementation](<https://github.com/QingyongHu/SpinNet>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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