Point Cloud Registration on KITTI (Specific RR Threshold Evaluation)
93.5Mean RRGCL+Conv
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| GCL+ConvBackbone=Conv, Evaluation Thresholds=5°, 2m2023.07 | 93.5 | 99 | 98.8 | 91.7 | 96.1 | 82 | |
| GCL+KPConvBackbone=KPConv, Evaluation Thresholds=5°, 2m2023.07 | 89.6 | 100 | 98.2 | 93.2 | 88.3 | 68.5 | |
| GCL+ConvBackbone=Conv, Registration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 88.8 | — | — | — | — | — | |
| PredatorBackbone=KPConv, Evaluation Thresholds=5°, 2m2023.07 | 87.9 | 100 | 98.6 | 97.1 | 80.6 | 63.1 | |
| PredatorUnsupervised=false2024.11 | 87.9 | 100 | 98.6 | 97.1 | 80.6 | 63.1 | |
| FCGF+CUnsupervised=false2024.11 | 84.6 | 100 | 97.5 | 90.1 | 79.1 | 56.3 | |
| FGCMUnsupervised=true2024.11 | 84 | 99.5 | 97.1 | 89.6 | 79.6 | 54.2 | |
| GCL+KPConvBackbone=KPConv, Registration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 83.5 | — | — | — | — | — | |
| EYOCUnsupervised=true2024.11 | 83.2 | 99.5 | 96.6 | 89.1 | 78.6 | 52.3 | |
| CoFiNetEvaluation Thresholds=5°, 2m2023.07 | 82.1 | 99.9 | 99.1 | 94.1 | 78.6 | 38.7 | |
| CoFiNetUnsupervised=false2024.11 | 82.1 | 99.9 | 99.1 | 94.1 | 78.6 | 38.7 | |
| FCGFBackbone=Conv, Evaluation Thresholds=5°, 2m2023.07 | 77.4 | 98.4 | 95.3 | 86.8 | 69.7 | 36.9 | |
| FCGFUnsupervised=false2024.11 | 77.4 | 98.4 | 95.3 | 86.8 | 69.7 | 36.9 | |
| PredatorRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 74.7 | — | — | — | — | — | |
| CoFiNetRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 68.6 | — | — | — | — | — | |
| D3FeatEvaluation Thresholds=5°, 2m2023.07 | 66.4 | 99.8 | 98.2 | 90.7 | 38.6 | 4.5 | |
| D3FeatUnsupervised=false2024.11 | 66.4 | 99.8 | 98.2 | 90.7 | 38.6 | 4.5 | |
| FCGFRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 55.2 | — | — | — | — | — | |
| D3FeatRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 52.5 | — | — | — | — | — | |
| RIENetUnsupervised=true2024.11 | 50.7 | 96.3 | 72.1 | 38.2 | 24.4 | 22.6 | |
| GeoTransformerEvaluation Thresholds=5°, 2m2023.07 | 42.2 | 100 | 93.9 | 16.6 | 0.7 | 0 | |
| GeoTrans.Unsupervised=false2024.11 | 42.2 | 100 | 93.9 | 16.6 | 0.7 | 0 | |
| SpinNetEvaluation Thresholds=5°, 2m2023.07 | 39.1 | 99.1 | 82.5 | 13.7 | 0 | 0 | |
| SpinNetUnsupervised=false2024.11 | 39.1 | 99.1 | 82.5 | 13.7 | 0 | 0 | |
| GeoTransformerRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 39 | — | — | — | — | — | |
| SpinNetRegistration Criterion (RTE)=< 0.6m, Registration Criterion (RRE)=< 1.5°2023.07 | 35.6 | — | — | — | — | — |