# Point Cloud Registration on KITTI \[30, 40\]

Source: [Point Cloud Registration on KITTI \[30, 40\]](<https://www.sota2.com/research/sota/point-cloud-registration-on-kitti-30-40>)

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

Data updated: 2026-02-26T06:02:01.611Z

Evaluation of Point Cloud Registration performance on the specified sequence range \[30, 40\] subset of the KITTI dataset, measured using metrics such as Relative Recall (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 \[30, 40\] |
| Metric | Relative Recall |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 17 of 17 |
| 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

- [Relative Recall](<https://www.sota2.com/research/sota/point-cloud-registration-on-kitti-30-40.md?metric=Relative%20Recall>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Relative Recall | Result date | Report paper |
| --- | --- | --- | --- |
| GCL+Conv | 87.6 | Not recorded | 68fa70451e209131cea4a117 |
| GCL+KPConv | 78.6 | Not recorded | 68fa70451e209131cea4a117 |
| Predator+APR(a) | 62.1 | Not recorded | 68fa6f4b1e209131cea44d83 |
| Predator | 60.6 | Not recorded | 68fa6f4b1e209131cea44d83 |
| Predator | 60.6 | Not recorded | 68fa70451e209131cea4a117 |
| CoFiNet | 44.8 | Not recorded | 68fa6f4b1e209131cea44d83 |
| CoFiNet | 44.8 | Not recorded | 68fa70451e209131cea4a117 |
| FCGF+APR(s) | 42.1 | Not recorded | 68fa6f4b1e209131cea44d83 |
| FCGF+APR(a) | 35 | Not recorded | 68fa6f4b1e209131cea44d83 |
| FCGF | 25 | Not recorded | 68fa6f4b1e209131cea44d83 |
| FCGF | 25 | Not recorded | 68fa70451e209131cea4a117 |
| D3Feat | 20 | Not recorded | 68fa6f4b1e209131cea44d83 |
| D3Feat | 20 | Not recorded | 68fa70451e209131cea4a117 |
| GeoTransformer | 0.7 | Not recorded | 68fa6f4b1e209131cea44d83 |
| GeoTransformer | 0.7 | Not recorded | 68fa70451e209131cea4a117 |
| SpinNet | 0 | Not recorded | 68fa6f4b1e209131cea44d83 |
| SpinNet | 0 | Not recorded | 68fa70451e209131cea4a117 |

### GCL+Conv

Relative Recall: 87.6. Result ID: 699110803a6c31484905695e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70451e209131cea4a117.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70451e209131cea4a117.md>)

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

Recorded evaluation configuration: {"Backbone":"Conv","Registration Criterion (RTE)":"\< 0.6m","Registration Criterion (RRE)":"\< 1.5°"}. This record does not assert independent reproduction.

### GCL+KPConv

Relative Recall: 78.6. Result ID: 699110803a6c31484905695d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70451e209131cea4a117.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70451e209131cea4a117.md>)

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

Recorded evaluation configuration: {"Backbone":"KPConv","Registration Criterion (RTE)":"\< 0.6m","Registration Criterion (RRE)":"\< 1.5°"}. This record does not assert independent reproduction.

### Predator+APR(a)

Relative Recall: 62.1. Result ID: 6990b5673a6c31484902a0b7.

[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

Relative Recall: 60.6. Result ID: 6990b5673a6c31484902a0b6.

[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.

### Predator

Relative Recall: 60.6. Result ID: 699110803a6c314849056958.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70451e209131cea4a117.md>)

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

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

Recorded evaluation configuration: {"Registration Criterion (RTE)":"\< 0.6m","Registration Criterion (RRE)":"\< 1.5°"}. This record does not assert independent reproduction.

### CoFiNet

Relative Recall: 44.8. Result ID: 6990b5673a6c31484902a0b1.

[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.

### CoFiNet

Relative Recall: 44.8. Result ID: 699110803a6c31484905695b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70451e209131cea4a117.md>)

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

Recorded evaluation configuration: {"Registration Criterion (RTE)":"\< 0.6m","Registration Criterion (RRE)":"\< 1.5°"}. This record does not assert independent reproduction.

### FCGF+APR(s)

Relative Recall: 42.1. Result ID: 6990b5673a6c31484902a0b5.

[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)

Relative Recall: 35. Result ID: 6990b5673a6c31484902a0b4.

[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

Relative Recall: 25. Result ID: 6990b5673a6c31484902a0b3.

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

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

### FCGF

Relative Recall: 25. Result ID: 699110803a6c314849056957.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70451e209131cea4a117.md>)

Recorded evaluation configuration: {"Registration Criterion (RTE)":"\< 0.6m","Registration Criterion (RRE)":"\< 1.5°"}. This record does not assert independent reproduction.

### D3Feat

Relative Recall: 20. Result ID: 6990b5673a6c31484902a0b0.

[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.

### D3Feat

Relative Recall: 20. Result ID: 699110803a6c31484905695a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70451e209131cea4a117.md>)

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

Recorded evaluation configuration: {"Registration Criterion (RTE)":"\< 0.6m","Registration Criterion (RRE)":"\< 1.5°"}. This record does not assert independent reproduction.

### GeoTransformer

Relative Recall: 0.7. Result ID: 6990b5673a6c31484902a0b2.

[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.

### GeoTransformer

Relative Recall: 0.7. Result ID: 699110803a6c31484905695c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70451e209131cea4a117.md>)

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

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

Recorded evaluation configuration: {"Registration Criterion (RTE)":"\< 0.6m","Registration Criterion (RRE)":"\< 1.5°"}. This record does not assert independent reproduction.

### SpinNet

Relative Recall: 0. Result ID: 6990b5673a6c31484902a0af.

[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.

### SpinNet

Relative Recall: 0. Result ID: 699110803a6c314849056959.

[Reporting paper](<https://www.sota2.com/research/paper/68fa70451e209131cea4a117.md>)

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

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

Recorded evaluation configuration: {"Registration Criterion (RTE)":"\< 0.6m","Registration Criterion (RRE)":"\< 1.5°"}. This record does not assert independent reproduction.

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