Point Cloud Registration on ModelNet40
0.64Rotation Error (RRE)Sinkhorn-CPD
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Sinkhorn-CPDFamily=OT-based, Time (s)=0.532026.06 | 0.64 | 0.0135 | — | 0.0143 | 88.9 | — | — | — | — | — | |
| GeoTransformerFamily=Learning, Time (s)=0.052026.06 | 0.81 | 0.009 | — | 0.009 | 81.2 | — | — | — | — | — | |
| RPMNetFamily=Learning, Time (s)=0.062026.06 | 1.14 | 0.016 | — | 0.0168 | 59.1 | — | — | — | — | — | |
| FilterRegFamily=Probabilistic, Time (s)=0.122026.06 | 1.29 | 0.0164 | — | 0.0166 | 85.5 | — | — | — | — | — | |
| CPDFamily=Probabilistic, Time (s)=3.032026.06 | 1.73 | 0.0286 | — | 0.03 | 59.9 | — | — | — | — | — | |
| RPOTFamily=OT-based, Time (s)=1.032026.06 | 2.81 | 0.0337 | — | 0.0401 | 71.6 | — | — | — | — | — | |
| TEASER++Family=Correspondence, Time (s)=0.072026.06 | 3.7 | 0.0233 | — | 0.0217 | 60.6 | — | — | — | — | — | |
| REGTR2022.03 | 3.93 | 0.087 | 0.0037 | — | — | — | — | — | — | — | |
| Predatornumber of samples=4502022.03 | 5.235 | 0.132 | 0.0083 | — | — | — | — | — | — | — | |
| FGRFamily=Correspondence, Time (s)=0.082026.06 | 5.58 | 0.0447 | — | 0.0457 | 18 | — | — | — | — | — | |
| RobOTFamily=OT-based, Time (s)=0.532026.06 | 5.67 | 0.0874 | — | 0.0934 | 5.9 | — | — | — | — | — | |
| OMNetretrained on all categories=true2022.03 | 6.517 | 0.129 | 0.0074 | — | — | — | — | — | — | — | |
| RPM-Netsurface normal information=true2022.03 | 7.342 | 0.124 | 0.005 | — | — | — | — | — | — | — | |
| LSG-CPDFamily=Probabilistic, Time (s)=0.152026.06 | 8.14 | 0.1348 | — | 0.1472 | 28.8 | — | — | — | — | — | |
| DCP-v22022.03 | 16.501 | 0.3 | 0.0268 | — | — | — | — | — | — | — | |
| Sparse-ICPFamily=Correspondence, Time (s)=0.112026.06 | 18.58 | 0.2532 | — | 0.2683 | 1 | — | — | — | — | — | |
| PointNetLK2022.03 | 48.567 | 0.507 | 0.0367 | — | — | — | — | — | — | — | |
| MPL-MAE2026.06 | — | — | — | 3.9 | — | 0.335 | 0.578 | 0.366 | 0.0015 | 0.0029 | |
| PCP-MAE2026.06 | — | — | — | 4.3 | — | 0.431 | 0.656 | 0.41 | 0.0018 | 0.0031 | |
| Point-MAE2026.06 | — | — | — | 5 | — | 0.583 | 0.763 | 0.494 | 0.0025 | 0.0037 |