Point Cloud Registration on KITTI odometry
99.6Relative Recall (RR)CoFiNet
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| CoFiNet2023.05 | 99.6 | — | — | — | — | |
| Predator+APR(a)APR variant=asymmetrical2023.05 | 99.6 | — | — | — | — | |
| GeoTransformerRobust Estimator=LGR2023.07 | 99.5 | 0.24 | 0.065 | — | — | |
| Predator2023.05 | 99.3 | — | — | — | — | |
| DHVRFeature Extractor=FCGF2023.07 | 99.1 | 0.29 | 0.198 | — | — | |
| D3Feat2023.05 | 98.7 | — | — | — | — | |
| FCGF+APR(s)APR variant=symmetrical2023.05 | 98.4 | — | — | — | — | |
| PointDSCDescriptor=FPFH, Training Strategy=Re-trained on KITTI2021.03 | 98.2 | 0.35 | 8.13 | 85.54 | 0.31 | |
| PointDSCFeature Extractor=FCGF2023.07 | 98.2 | 0.33 | 0.209 | — | — | |
| GeoTransformer2023.05 | 97.9 | — | — | — | — | |
| SpinNet2023.05 | 97.6 | — | — | — | — | |
| FCGF+APR(a)APR variant=asymmetrical2023.05 | 97.5 | — | — | — | — | |
| PCAM2023.07 | 97.2 | 0.33 | 0.08 | — | — | |
| FCGF2023.05 | 97 | — | — | — | — | |
| DGRFeature Extractor=FCGF2023.07 | 96.9 | 0.34 | 0.217 | — | — | |
| PointDSCDescriptor=FPFH, Training Strategy=Pre-trained on 3DMatch2021.03 | 90.27 | 0.35 | 7.83 | 70.89 | 0.31 | |
| RANSAC-100kDescriptor=FPFH, Iterations=100000, Training Strategy=Pre-trained on 3DMatch2021.03 | 89.37 | 1.22 | 25.88 | 73.13 | 13.7 | |
| SMDescriptor=FPFH, Training Strategy=Pre-trained on 3DMatch2021.03 | 79.64 | 0.47 | 12.15 | 56.37 | 0.18 | |
| DGRDescriptor=FPFH, Training Strategy=Re-trained on KITTI2021.03 | 77.12 | 1.64 | 33.1 | 27.96 | 0.86 | |
| DGRDescriptor=FPFH, Training Strategy=Pre-trained on 3DMatch2021.03 | 73.69 | 1.67 | 34.74 | 4.51 | 0.86 | |
| RANSAC-10kDescriptor=FPFH, Iterations=10000, Training Strategy=Pre-trained on 3DMatch2021.03 | 48.65 | 1.9 | 37.17 | 42.35 | 1.23 | |
| RANSAC-1kDescriptor=FPFH, Iterations=1000, Training Strategy=Pre-trained on 3DMatch2021.03 | 11.89 | 2.51 | 38.23 | 14.13 | 0.2 |