Point Cloud Registration on ModelNet40 (Unseen Shapes, OS/TS sampling)

0.898RMSE(R)OMNet

Evaluation Results

Method
OMNet2021.03	0.898	—	—	—	—	—	—	—	—	—	—	—	—	0.325	0.0078	0.0049	0.639	0.0099
OMNet2021.03	1.045	—	—	—	—	—	—	—	—	—	—	—	—	0.507	0.0084	0.0056	0.991	0.0112
OMNet2021.03	1.384	—	—	—	—	—	—	—	—	—	—	—	—	0.542	0.0226	0.0093	1.118	0.0198
PRNet2021.03	1.588	—	—	—	—	—	—	—	—	—	—	—	—	0.976	0.0146	0.0101	1.871	0.0201
RPMNet2021.03	2.162	—	—	—	—	—	—	—	—	—	—	—	—	1.135	0.0267	0.0141	2.28	0.0302
FMR2021.03	2.74	—	—	—	—	—	—	—	—	—	—	—	—	1.448	0.025	0.0112	2.793	0.0218
FMR2021.03	3.456	—	—	—	—	—	—	—	—	—	—	—	—	1.736	0.0292	0.0138	3.281	0.0272
PRNet2021.03	3.677	—	—	—	—	—	—	—	—	—	—	—	—	2.201	0.0307	0.0204	4.223	0.0406
DCP2021.03	4.291	—	—	—	—	—	—	—	—	—	—	—	—	3.006	0.0426	0.0291	5.871	0.0589
FGR2021.03	4.741	—	—	—	—	—	—	—	—	—	—	—	—	1.11	0.0269	0.007	2.152	0.0136
IDAM2021.03	4.744	—	—	—	—	—	—	—	—	—	—	—	—	1.346	0.0395	0.0108	2.61	0.0216
Symmetric ICP2021.03	5.333	—	—	—	—	—	—	—	—	—	—	—	—	4.787	0.0572	0.0517	9.424	0.0992
DCP2021.03	5.786	—	—	—	—	—	—	—	—	—	—	—	—	3.872	0.0602	0.0388	7.903	0.0794
Symmetric ICP2021.03	6.875	—	—	—	—	—	—	—	—	—	—	—	—	6.069	0.0745	0.0668	12.103	0.129
IDAM2021.03	7.456	—	—	—	—	—	—	—	—	—	—	—	—	4.387	0.0604	0.0352	8.577	0.0698
FMR2021.03	8.033	—	—	—	—	—	—	—	—	—	—	—	—	4.999	0.1187	0.0726	9.741	0.1617
DCP2021.03	11.109	—	—	—	—	—	—	—	—	—	—	—	—	8.454	0.0851	0.0599	9.216	0.1259
Symmetric ICP2021.03	11.295	—	—	—	—	—	—	—	—	—	—	—	—	9.592	0.1394	0.1124	19.571	0.2414
Go-ICP2021.03	11.296	—	—	—	—	—	—	—	—	—	—	—	—	3.48	0.0571	0.0206	7.138	0.0407
DeepGMR2021.03	13.266	—	—	—	—	—	—	—	—	—	—	—	—	6.883	0.0748	0.0476	13.536	0.0937
Go-ICP2021.03	13.458	—	—	—	—	—	—	—	—	—	—	—	—	3.176	0.0462	0.0149	6.163	0.0299
PointNetLK2021.03	14.888	—	—	—	—	—	—	—	—	—	—	—	—	7.603	0.0842	0.0464	14.742	0.092
PointNetLK2021.03	16.429	—	—	—	—	—	—	—	—	—	—	—	—	7.467	0.0832	0.0443	14.224	0.088
ICP2021.03	21.043	—	—	—	—	—	—	—	—	—	—	—	—	8.464	0.0913	0.0467	16.46	0.0921
ICP2021.03	21.246	—	—	—	—	—	—	—	—	—	—	—	—	9.431	0.0975	0.0519	17.625	0.103
DeepGMR2021.03	21.985	—	—	—	—	—	—	—	—	—	—	—	—	11.113	0.0936	0.0587	20.806	0.1171
ICP2021.03	22.84	—	—	—	—	—	—	—	—	—	—	—	—	12.147	0.1931	0.1217	24.654	0.2612
PointNetLK2021.03	27.482	—	—	—	—	—	—	—	—	—	—	—	—	18.627	0.2532	0.1778	36.947	0.3691
FGR2021.03	28.865	—	—	—	—	—	—	—	—	—	—	—	—	16.168	0.138	0.0774	30.192	0.153
FGR2021.03	46.766	—	—	—	—	—	—	—	—	—	—	—	—	29.635	0.3041	0.2078	57.685	0.4263
DeepGMR2021.03	70.886	—	—	—	—	—	—	—	—	—	—	—	—	47.853	0.3703	0.2582	86.444	0.5354
Go-ICP2021.03	71.077	—	—	—	—	—	—	—	—	—	—	—	—	38.266	0.3446	0.1936	76.492	0.4324
DCP2021.03	—	12.387	12.393	9.147	9.534	0.0656	0.1008	0.0495	0.0717	8.341	8.955	0.0989	0.1516	—	—	—	—	—
DCP2021.03	—	13.387	—	9.971	—	0.0762	—	0.057	—	11.128	—	0.1143	—	—	—	—	—	—
DCP2021.03	—	12.507	—	9.414	—	0.102	—	0.073	—	12.102	—	0.1493	—	—	—	—	—	—
DeepGMR2021.03	—	74.958	70.81	52.119	47.954	0.352	0.3689	0.2538	0.2597	86.935	87.444	0.5189	0.536	—	—	—	—	—
DeepGMR2021.03	—	75.773	—	53.689	—	0.3485	—	0.2481	—	85.21	—	0.5074	—	—	—	—	—	—
DeepGMR2021.03	—	68.425	—	46.269	—	0.3667	—	0.2595	—	87.192	—	0.5323	—	—	—	—	—	—
FGR2021.03	—	53.186	47.816	33.189	30.572	0.3059	0.3149	0.2117	0.2185	63.019	59.759	0.4368	0.4459	—	—	—	—	—
FGR2021.03	—	46.161	—	27.475	—	0.2763	—	0.1818	—	49.749	—	0.3745	—	—	—	—	—	—
FGR2021.03	—	41.644	—	26.193	—	0.2872	—	0.1951	—	51.463	—	0.4003	—	—	—	—	—	—
FMR2021.03	—	8.026	8.591	5.051	5.303	0.1244	0.1249	0.0755	0.0776	9.657	10.383	0.1702	0.1719	—	—	—	—	—
FMR2021.03	—	10.365	—	6.465	—	0.1301	—	0.0816	—	12.159	—	0.1773	—	—	—	—	—	—
FMR2021.03	—	11.548	—	7.109	—	0.133	—	0.0837	—	13.827	—	0.1817	—	—	—	—	—	—
Go-ICP2021.03	—	72.221	72.03	40.516	39.308	0.3162	0.3468	0.186	0.1977	74.42	77.519	0.4089	0.4405	—	—	—	—	—
Go-ICP2021.03	—	69.747	—	39.646	—	0.3035	—	0.1788	—	68.329	—	0.3893	—	—	—	—	—	—
Go-ICP2021.03	—	64.455	—	34.017	—	0.3196	—	0.1888	—	68.92	—	0.4091	—	—	—	—	—	—
ICP2021.03	—	20.245	23.174	11.134	12.405	0.1902	0.1932	0.1214	0.1231	22.58	25.147	0.2634	0.2639	—	—	—	—	—
ICP2021.03	—	20.387	—	12.651	—	0.1887	—	0.1241	—	25.085	—	0.2626	—	—	—	—	—	—
ICP2021.03	—	22.906	—	13.599	—	0.1994	—	0.1286	—	26.819	—	0.27	—	—	—	—	—	—
OMNet2021.03	—	0.998	1.522	0.555	0.817	0.0172	0.0189	0.0078	0.0098	1.078	1.622	0.0167	0.0208	—	—	—	—	—
OMNet2021.03	—	3.719	—	1.314	—	0.0392	—	0.0151	—	2.657	—	0.0321	—	—	—	—	—	—
OMNet2021.03	—	4.014	—	1.619	—	0.0406	—	0.0179	—	3.206	—	0.0383	—	—	—	—	—	—
PointNetLK2021.03	—	24.162	26.235	16.222	17.874	0.2369	0.2582	0.1684	0.1805	32.108	36.109	0.3555	0.3771	—	—	—	—	—
PointNetLK2021.03	—	27.903	—	18.661	—	0.2525	—	0.1752	—	36.741	—	0.3671	—	—	—	—	—	—
PointNetLK2021.03	—	42.777	—	28.969	—	0.321	—	0.2258	—	53.307	—	0.4613	—	—	—	—	—	—
RPMNet2021.03	—	1.67	2.955	0.889	1.374	0.031	0.036	0.0111	0.0163	1.692	2.746	0.0242	0.0353	—	—	—	—	—
RPMNet2021.03	—	3.934	—	1.385	—	0.0441	—	0.015	—	2.606	—	0.0318	—	—	—	—	—	—
RPMNet2021.03	—	7.491	—	2.403	—	0.0575	—	0.0258	—	4.635	—	0.0556	—	—	—	—	—	—
Symmetric ICP2021.03	—	11.087	11.731	9.671	10.042	0.1453	0.1436	0.1157	0.1163	19.174	20.292	0.2517	0.2486	—	—	—	—	—
Symmetric ICP2021.03	—	12.291	—	10.841	—	0.1488	—	0.1212	—	21.399	—	0.2577	—	—	—	—	—	—
Symmetric ICP2021.03	—	12.333	—	10.746	—	0.1456	—	0.1186	—	21.437	—	0.2521	—	—	—	—	—	—