Point Cloud Registration on ModelNet40 (Unseen categories)
0.023RMSE (Rotation)PCAM-Sparse
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| PCAM-SparseConvolution type=Sparse2021.10 | 0.023 | — | 0.012 | — | 0.0002 | 0.0001 | |
| PCAM-SoftAssignment type=Soft2021.10 | 0.023 | — | 0.006 | — | 0.0001 | 0 | |
| PCAM-SoftAssignment type=Soft2021.10 | 0.056 | — | 0.013 | — | 0.0006 | 0.0001 | |
| PCAM-SparseConvolution type=Sparse2021.10 | 0.072 | — | 0.018 | — | 0.0002 | 0.0001 | |
| Partial-OTCategory=End-to-end2021.11 | 0.328 | 0.107 | 0.052 | 0 | 0.0018 | 0.0003 | |
| OPRNet2021.10 | 0.328 | — | 0.052 | — | 0.002 | 0.0003 | |
| Partial-OTCategory=End-to-end2021.11 | 0.357 | 0.127 | 0.069 | 0 | 0.002 | 0.0004 | |
| OPRNet2021.10 | 0.357 | — | 0.069 | — | 0.002 | 0.0004 | |
| IDAM2021.10 | 2.46 | — | 0.56 | — | 0.016 | 0.003 | |
| S-RobOTCategory=Matching, Variant=rigid2021.11 | 2.989 | 8.939 | 1.313 | 0.0002 | 0.014 | 0.009 | |
| IDAM2021.10 | 3.04 | — | 0.61 | — | 0.019 | 0.004 | |
| DCP-v2Transformer module=Used2019.05 | 3.1502 | 9.9237 | 2.0072 | 0 | 0.005 | 0.0037 | |
| PRNetCategory=End-to-end2021.11 | 3.199 | 10.235 | 1.454 | 0.0003 | 0.016 | 0.01 | |
| PRNet2021.10 | 3.2 | — | 1.45 | — | 0.016 | 0.01 | |
| DCP-v1Transformer module=None (Identity mapping)2019.05 | 4.3819 | 19.2014 | 2.6804 | 0 | 0.005 | 0.0036 | |
| PRNet2021.10 | 4.98 | — | 2.33 | — | 0.021 | 0.015 | |
| PRNetCategory=End-to-end2021.11 | 4.986 | 24.857 | 2.329 | 0.0004 | 0.021 | 0.015 | |
| DCP(v2)Category=End-to-end2021.11 | 6.709 | 45.005 | 4.448 | 0.0007 | 0.027 | 0.02 | |
| DCP-v22021.10 | 6.71 | — | 4.45 | — | 0.027 | 0.02 | |
| S-RobOTCategory=Matching, variant=rigid2021.11 | 7.142 | 50.997 | 4.012 | 0.0005 | 0.022 | 0.013 | |
| DCP(v2)Category=End-to-end2021.11 | 9.769 | 95.431 | 6.954 | 0.001 | 0.034 | 0.025 | |
| DCP-v22021.10 | 9.77 | — | 6.95 | — | 0.034 | 0.025 | |
| FGR2019.05 | 9.849 | 97.0027 | 1.4455 | 0.0002 | 0.0135 | 0.0022 | |
| FGRCategory=Matching2021.11 | 9.932 | 98.635 | 1.952 | 0.0014 | 0.038 | 0.007 | |
| FGRCategory=Matching2021.11 | 11.238 | 126.288 | 2.832 | 0.0009 | 0.03 | 0.008 | |
| Go-ICPCategory=Matching2021.11 | 12.533 | 157.072 | 2.94 | 0.0009 | 0.031 | 0.01 | |
| Go-ICP2019.05 | 13.8657 | 192.2586 | 2.9142 | 0.0005 | 0.0222 | 0.0062 | |
| Go-ICPCategory=Matching2021.11 | 13.999 | 195.985 | 3.165 | 0.0011 | 0.033 | 0.012 | |
| PointNetLK2021.10 | 16.73 | — | 7.55 | — | 0.045 | 0.025 | |
| PointNetLKCategory=End-to-end2021.11 | 16.735 | 280.044 | 7.55 | 0.002 | 0.045 | 0.025 | |
| PointNetLK2019.05 | 17.5021 | 306.324 | 5.2805 | 0.0008 | 0.028 | 0.0072 | |
| PointNetLK2021.10 | 22.94 | — | 9.65 | — | 0.061 | 0.033 | |
| PointNetLKCategory=End-to-end2021.11 | 22.943 | 526.401 | 9.655 | 0.0037 | 0.061 | 0.033 | |
| ICP2019.05 | 29.8764 | 892.6011 | 23.6261 | 0.086 | 0.2933 | 0.2519 | |
| ICPCategory=Matching2021.11 | 33.683 | 1,134.552 | 25.045 | 0.0856 | 0.293 | 0.25 | |
| ICPCategory=Matching2021.11 | 34.894 | 1,217.618 | 25.455 | 0.086 | 0.293 | 0.251 |