Point Cloud Registration on ModelNet40 (Unseen Shapes, OS/TS sampling)
0.898RMSE(R)OMNet
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OMNetSampling=OS2021.03 | 0.898 | — | — | — | — | — | — | — | — | — | — | — | — | 0.325 | 0.0078 | 0.0049 | 0.639 | 0.0099 | |
| OMNetSampling=TS2021.03 | 1.045 | — | — | — | — | — | — | — | — | — | — | — | — | 0.507 | 0.0084 | 0.0056 | 0.991 | 0.0112 | |
| OMNetpartiality=Two-Source2021.03 | 1.384 | — | — | — | — | — | — | — | — | — | — | — | — | 0.542 | 0.0226 | 0.0093 | 1.118 | 0.0198 | |
| PRNetSampling=OS2021.03 | 1.588 | — | — | — | — | — | — | — | — | — | — | — | — | 0.976 | 0.0146 | 0.0101 | 1.871 | 0.0201 | |
| RPMNetpartiality=Two-Source2021.03 | 2.162 | — | — | — | — | — | — | — | — | — | — | — | — | 1.135 | 0.0267 | 0.0141 | 2.28 | 0.0302 | |
| FMRSampling=OS2021.03 | 2.74 | — | — | — | — | — | — | — | — | — | — | — | — | 1.448 | 0.025 | 0.0112 | 2.793 | 0.0218 | |
| FMRSampling=TS2021.03 | 3.456 | — | — | — | — | — | — | — | — | — | — | — | — | 1.736 | 0.0292 | 0.0138 | 3.281 | 0.0272 | |
| PRNetSampling=TS2021.03 | 3.677 | — | — | — | — | — | — | — | — | — | — | — | — | 2.201 | 0.0307 | 0.0204 | 4.223 | 0.0406 | |
| DCPSampling=OS2021.03 | 4.291 | — | — | — | — | — | — | — | — | — | — | — | — | 3.006 | 0.0426 | 0.0291 | 5.871 | 0.0589 | |
| FGRSampling=OS2021.03 | 4.741 | — | — | — | — | — | — | — | — | — | — | — | — | 1.11 | 0.0269 | 0.007 | 2.152 | 0.0136 | |
| IDAMSampling=OS2021.03 | 4.744 | — | — | — | — | — | — | — | — | — | — | — | — | 1.346 | 0.0395 | 0.0108 | 2.61 | 0.0216 | |
| Symmetric ICPSampling=OS2021.03 | 5.333 | — | — | — | — | — | — | — | — | — | — | — | — | 4.787 | 0.0572 | 0.0517 | 9.424 | 0.0992 | |
| DCPSampling=TS2021.03 | 5.786 | — | — | — | — | — | — | — | — | — | — | — | — | 3.872 | 0.0602 | 0.0388 | 7.903 | 0.0794 | |
| Symmetric ICPSampling=TS2021.03 | 6.875 | — | — | — | — | — | — | — | — | — | — | — | — | 6.069 | 0.0745 | 0.0668 | 12.103 | 0.129 | |
| IDAMSampling=TS2021.03 | 7.456 | — | — | — | — | — | — | — | — | — | — | — | — | 4.387 | 0.0604 | 0.0352 | 8.577 | 0.0698 | |
| FMRpartiality=Two-Source2021.03 | 8.033 | — | — | — | — | — | — | — | — | — | — | — | — | 4.999 | 0.1187 | 0.0726 | 9.741 | 0.1617 | |
| DCPpartiality=Two-Source2021.03 | 11.109 | — | — | — | — | — | — | — | — | — | — | — | — | 8.454 | 0.0851 | 0.0599 | 9.216 | 0.1259 | |
| Symmetric ICPpartiality=Two-Source2021.03 | 11.295 | — | — | — | — | — | — | — | — | — | — | — | — | 9.592 | 0.1394 | 0.1124 | 19.571 | 0.2414 | |
| Go-ICPSampling=TS2021.03 | 11.296 | — | — | — | — | — | — | — | — | — | — | — | — | 3.48 | 0.0571 | 0.0206 | 7.138 | 0.0407 | |
| DeepGMRSampling=OS2021.03 | 13.266 | — | — | — | — | — | — | — | — | — | — | — | — | 6.883 | 0.0748 | 0.0476 | 13.536 | 0.0937 | |
| Go-ICPSampling=OS2021.03 | 13.458 | — | — | — | — | — | — | — | — | — | — | — | — | 3.176 | 0.0462 | 0.0149 | 6.163 | 0.0299 | |
| PointNetLKSampling=TS2021.03 | 14.888 | — | — | — | — | — | — | — | — | — | — | — | — | 7.603 | 0.0842 | 0.0464 | 14.742 | 0.092 | |
| PointNetLKSampling=OS2021.03 | 16.429 | — | — | — | — | — | — | — | — | — | — | — | — | 7.467 | 0.0832 | 0.0443 | 14.224 | 0.088 | |
| ICPSampling=OS2021.03 | 21.043 | — | — | — | — | — | — | — | — | — | — | — | — | 8.464 | 0.0913 | 0.0467 | 16.46 | 0.0921 | |
| ICPSampling=TS2021.03 | 21.246 | — | — | — | — | — | — | — | — | — | — | — | — | 9.431 | 0.0975 | 0.0519 | 17.625 | 0.103 | |
| DeepGMRSampling=TS2021.03 | 21.985 | — | — | — | — | — | — | — | — | — | — | — | — | 11.113 | 0.0936 | 0.0587 | 20.806 | 0.1171 | |
| ICPpartiality=Two-Source2021.03 | 22.84 | — | — | — | — | — | — | — | — | — | — | — | — | 12.147 | 0.1931 | 0.1217 | 24.654 | 0.2612 | |
| PointNetLKpartiality=Two-Source2021.03 | 27.482 | — | — | — | — | — | — | — | — | — | — | — | — | 18.627 | 0.2532 | 0.1778 | 36.947 | 0.3691 | |
| FGRSampling=TS2021.03 | 28.865 | — | — | — | — | — | — | — | — | — | — | — | — | 16.168 | 0.138 | 0.0774 | 30.192 | 0.153 | |
| FGRpartiality=Two-Source2021.03 | 46.766 | — | — | — | — | — | — | — | — | — | — | — | — | 29.635 | 0.3041 | 0.2078 | 57.685 | 0.4263 | |
| DeepGMRpartiality=Two-Source2021.03 | 70.886 | — | — | — | — | — | — | — | — | — | — | — | — | 47.853 | 0.3703 | 0.2582 | 86.444 | 0.5354 | |
| Go-ICPpartiality=Two-Source2021.03 | 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 | — | — | — | — | — | |
| DCPsplit=OS2021.03 | — | 13.387 | — | 9.971 | — | 0.0762 | — | 0.057 | — | 11.128 | — | 0.1143 | — | — | — | — | — | — | |
| DCPsplit=TS2021.03 | — | 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 | — | — | — | — | — | |
| DeepGMRsplit=OS2021.03 | — | 75.773 | — | 53.689 | — | 0.3485 | — | 0.2481 | — | 85.21 | — | 0.5074 | — | — | — | — | — | — | |
| DeepGMRsplit=TS2021.03 | — | 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 | — | — | — | — | — | |
| FGRsplit=OS2021.03 | — | 46.161 | — | 27.475 | — | 0.2763 | — | 0.1818 | — | 49.749 | — | 0.3745 | — | — | — | — | — | — | |
| FGRsplit=TS2021.03 | — | 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 | — | — | — | — | — | |
| FMRsplit=OS2021.03 | — | 10.365 | — | 6.465 | — | 0.1301 | — | 0.0816 | — | 12.159 | — | 0.1773 | — | — | — | — | — | — | |
| FMRsplit=TS2021.03 | — | 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-ICPsplit=OS2021.03 | — | 69.747 | — | 39.646 | — | 0.3035 | — | 0.1788 | — | 68.329 | — | 0.3893 | — | — | — | — | — | — | |
| Go-ICPsplit=TS2021.03 | — | 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 | — | — | — | — | — | |
| ICPsplit=OS2021.03 | — | 20.387 | — | 12.651 | — | 0.1887 | — | 0.1241 | — | 25.085 | — | 0.2626 | — | — | — | — | — | — | |
| ICPsplit=TS2021.03 | — | 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 | — | — | — | — | — | |
| OMNetsplit=OS2021.03 | — | 3.719 | — | 1.314 | — | 0.0392 | — | 0.0151 | — | 2.657 | — | 0.0321 | — | — | — | — | — | — | |
| OMNetsplit=TS2021.03 | — | 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 | — | — | — | — | — | |
| PointNetLKsplit=OS2021.03 | — | 27.903 | — | 18.661 | — | 0.2525 | — | 0.1752 | — | 36.741 | — | 0.3671 | — | — | — | — | — | — | |
| PointNetLKsplit=TS2021.03 | — | 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 | — | — | — | — | — | |
| RPMNetsplit=OS2021.03 | — | 3.934 | — | 1.385 | — | 0.0441 | — | 0.015 | — | 2.606 | — | 0.0318 | — | — | — | — | — | — | |
| RPMNetsplit=TS2021.03 | — | 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 ICPsplit=OS2021.03 | — | 12.291 | — | 10.841 | — | 0.1488 | — | 0.1212 | — | 21.399 | — | 0.2577 | — | — | — | — | — | — | |
| Symmetric ICPsplit=TS2021.03 | — | 12.333 | — | 10.746 | — | 0.1456 | — | 0.1186 | — | 21.437 | — | 0.2521 | — | — | — | — | — | — |