Point cloud registration on KITTI odometry (sequences 8-10)
100Success RateCAST
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| CASTPublication=This Paper2024.10 | 100 | — | — | — | — | 2.5 | 0.27 | |
| D3FeatPreprocessing=30cm voxel downsampling2020.03 | 99.81 | 6.9 | 0.3 | 0.24 | 0.06 | — | — | |
| D3Feat*Notes=Reproduced/evaluated following D3Feat protocol2020.11 | 99.8 | 7.2 | — | 0.3 | — | — | — | |
| PREDATORSampling strategy=random2020.11 | 99.8 | 8.8 | — | 0.34 | — | — | — | |
| PREDATORSampling strategy=prob. (om) biased2020.11 | 99.8 | 6.8 | — | 0.27 | — | — | — | |
| D3Feat2022.01 | 99.8 | 7.2 | — | 0.3 | — | — | — | |
| PREDATOR2022.01 | 99.8 | 6.8 | — | 0.27 | — | — | — | |
| CoFiNet2022.01 | 99.8 | 8.5 | — | 0.41 | — | — | — | |
| GeoTransformerPost-processing strategy=RANSAC2022.01 | 99.8 | 7.4 | — | 0.27 | — | — | — | |
| GeoTransformerPost-processing strategy=LGR2022.01 | 99.8 | 6.8 | — | 0.24 | — | — | — | |
| GCNetAblation=without Geometry-Guided Encoding (GGF) module2022.01 | 99.8 | 6.3 | — | 0.25 | — | — | — | |
| GCNetAblation=Full model2022.01 | 99.8 | 6.1 | — | 0.26 | — | — | — | |
| D3FeatRegistration mechanism=RANSAC-based2023.07 | 99.8 | — | — | — | — | 7.2 | 0.3 | |
| PredatorRegistration mechanism=RANSAC-based2023.07 | 99.8 | — | — | — | — | 6.8 | 0.27 | |
| CoFiNetRegistration mechanism=RANSAC-based2023.07 | 99.8 | — | — | — | — | 8.2 | 0.41 | |
| GeoTransformerRegistration mechanism=RANSAC-based, Registration strategy=RANSAC-50k2023.07 | 99.8 | — | — | — | — | 7.4 | 0.27 | |
| GeoTransformerRegistration mechanism=RANSAC-free, Registration strategy=LGR2023.07 | 99.8 | — | — | — | — | 6.8 | 0.24 | |
| D3FeatEstimator Type=RANSAC-based2022.02 | 99.8 | — | — | — | — | 7.2 | 0.3 | |
| PredatorEstimator Type=RANSAC-based2022.02 | 99.8 | — | — | — | — | 6.8 | 0.27 | |
| CoFiNetEstimator Type=RANSAC-based2022.02 | 99.8 | — | — | — | — | 8.2 | 0.41 | |
| GeoTransformerEstimator Type=RANSAC-based, RANSAC iterations=50k2022.02 | 99.8 | — | — | — | — | 7.4 | 0.27 | |
| GeoTransformerEstimator Type=RANSAC-free, Method Variation=LGR2022.02 | 99.8 | — | — | — | — | 6.8 | 0.24 | |
| D3FeatPublication=CVPR 20202024.10 | 99.8 | — | — | — | — | 7.2 | 0.3 | |
| PredatorPublication=CVPR 20212024.10 | 99.8 | — | — | — | — | 6.8 | 0.27 | |
| CoFiNetPublication=NeurIPS 20212024.10 | 99.8 | — | — | — | — | 8.2 | 0.41 | |
| GeoTransformerPublication=CVPR 20222024.10 | 99.8 | — | — | — | — | 6.8 | 0.24 | |
| OIF-NetPublication=NeurIPS 20222024.10 | 99.8 | — | — | — | — | 6.5 | 0.23 | |
| PEALPublication=CVPR 20232024.10 | 99.8 | — | — | — | — | 6.8 | 0.23 | |
| DiffusionPCRPublication=CVPR 20242024.10 | 99.8 | — | — | — | — | 6.3 | 0.23 | |
| D3Feat2025.12 | 99.8 | — | — | — | — | 7.2 | 0.3 | |
| PredatorTime (s)=0.692025.12 | 99.8 | — | — | — | — | 6.8 | 0.27 | |
| CoFiNetTime (s)=0.652025.12 | 99.8 | — | — | — | — | 8.2 | 0.41 | |
| BUFFERTime (s)=0.302025.12 | 99.8 | — | — | — | — | 7.1 | 0.26 | |
| GeoTransTime (s)=0.312025.12 | 99.8 | — | — | — | — | 6.2 | 0.23 | |
| MCI-NetTime (s)=0.232025.12 | 99.8 | — | — | — | — | 5 | 0.23 | |
| HRegNet2022.01 | 99.7 | 12 | — | 0.29 | — | — | — | |
| HRegNetRegistration mechanism=RANSAC-free2023.07 | 99.7 | — | — | — | — | 12 | 0.29 | |
| HRegNetEstimator Type=RANSAC-free2022.02 | 99.7 | — | — | — | — | 12 | 0.29 | |
| MACPublication=CVPR 20232024.10 | 99.5 | — | — | — | — | 8.5 | 0.4 | |
| SpinNetRegistration mechanism=RANSAC-based2023.07 | 99.1 | — | — | — | — | 9.9 | 0.47 | |
| SpinNetEstimator Type=RANSAC-based2022.02 | 99.1 | — | — | — | — | 9.9 | 0.47 | |
| SpinNetPublication=CVPR 20212024.10 | 99.1 | — | — | — | — | 9.9 | 0.47 | |
| SpinNetTime (s)=14.572025.12 | 99.1 | — | — | — | — | 9.9 | 0.47 | |
| DGRRegistration mechanism=RANSAC-free2023.07 | 98.7 | — | — | — | — | 32 | 0.37 | |
| DGREstimator Type=RANSAC-free2022.02 | 98.7 | — | — | — | — | 32 | 0.37 | |
| FCGF2020.11 | 96.6 | 9.5 | — | 0.3 | — | — | — | |
| FCGF2022.01 | 96.6 | 9.5 | — | 0.3 | — | — | — | |
| FCGFRegistration mechanism=RANSAC-based2023.07 | 96.6 | — | — | — | — | 9.5 | 0.3 | |
| FCGFEstimator Type=RANSAC-based2022.02 | 96.6 | — | — | — | — | 9.5 | 0.3 | |
| FCGFPublication=ICCV 20192024.10 | 96.6 | — | — | — | — | 9.5 | 0.3 | |
| FCGFTime (s)=0.182025.12 | 96.6 | — | — | — | — | 9.5 | 0.3 | |
| FCGFImplementation=Authors' implementation trained on KITTI2020.03 | 96.57 | 9.52 | 1.3 | 0.3 | 0.28 | — | — | |
| 3DFeat-Net2020.11 | 96 | 25.9 | — | 0.57 | — | — | — | |
| 3DFeat-Net2022.01 | 96 | 25.9 | — | 0.57 | — | — | — | |
| 3DFeat-NetRegistration mechanism=RANSAC-based2023.07 | 96 | — | — | — | — | 25.9 | 0.25 | |
| 3DFeat-NetEstimator Type=RANSAC-based2022.02 | 96 | — | — | — | — | 25.9 | 0.25 | |
| 3DFeat-NetPublication=ECCV 20182024.10 | 96 | — | — | — | — | 25.9 | 0.25 | |
| 3DFeat-Net2020.03 | 95.97 | 25.9 | 26.2 | 0.57 | 0.46 | — | — | |
| GeoTransformerTraining dataset=3DMatch2022.11 | 90.63 | 154.27 | — | 0.54 | — | — | — | |
| FMRRegistration mechanism=RANSAC-free2023.07 | 90.6 | — | — | — | — | 66 | 1.49 | |
| FMREstimator Type=RANSAC-free2022.02 | 90.6 | — | — | — | — | 65 | 1.49 | |
| BaselineTraining dataset=3DMatch, Voxel resolution (VR)=75cm, Euler angle range (gamma)=90°, Angle step (S)=15°2022.11 | 90.27 | 4.68 | — | 0.13 | — | — | — | |
| FCGF+YOHO-CTraining dataset=3DMatch, Variant=YOHO-C2022.11 | 82.16 | 39.3 | — | 1.38 | — | — | — | |
| SpinNetTraining dataset=3DMatch, Source=taken from [2]2022.11 | 81.44 | 15.6 | — | 0.98 | — | — | — | |
| FCGF+YOHO-OTraining dataset=3DMatch, Variant=YOHO-O2022.11 | 81.44 | 54.25 | — | 1.99 | — | — | — | |
| FCGF+PointDSCTraining dataset=3DMatch, Matcher=PointDSC2022.11 | 66.13 | 107.71 | — | 0.88 | — | — | — | |
| DIPTraining dataset=3DMatch2022.11 | 51.71 | 13.43 | — | 1.02 | — | — | — | |
| D3Feat-predTraining dataset=3DMatch, Variant=predicted keypoints, Source=taken from [2]2022.11 | 36.76 | 31.6 | — | 1.44 | — | — | — | |
| FCGFTraining dataset=3DMatch, Source=taken from [2]2022.11 | 24.19 | 27.1 | — | 1.61 | — | — | — | |
| D3Feat-randTraining dataset=3DMatch, Variant=random sampling, Source=taken from [2]2022.11 | 18.47 | 37.8 | — | 1.58 | — | — | — |