Point Cloud Registration on nuScenes
0.2RRE (°)CAST
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| CAST2024.10 | 0.2 | 12 | 99.9 | — | — | |
| Point-to-Plane ICP2024.10 | 0.21 | 15 | 36.8 | — | — | |
| FCGF+APR(s)Registration Criterion=Strict (0.5°, 0.3m), Design=Symmetrical2023.05 | 0.23 | 14.7 | 53.2 | — | — | |
| Point-to-Point ICP2024.10 | 0.25 | 25 | 18.8 | — | — | |
| FCGFRegistration Criterion=Strict (0.5°, 0.3m)2023.05 | 0.27 | 14.8 | 55.9 | — | — | |
| FCGF+APR(a)Registration Criterion=Strict (0.5°, 0.3m), Design=Asymmetrical2023.05 | 0.27 | 14.1 | 55.1 | — | — | |
| Predator+APR(a)Registration Criterion=Strict (0.5°, 0.3m), Design=Asymmetrical2023.05 | 0.31 | 13.8 | 56.9 | — | — | |
| PredatorRegistration Criterion=Strict (0.5°, 0.3m)2023.05 | 0.32 | 14 | 44.5 | — | — | |
| FCGFRegistration Criterion=Normal (1.5°, 0.6m)2023.05 | 0.38 | 20 | 77.9 | — | — | |
| FCGF+APR(a)Registration Criterion=Normal (1.5°, 0.6m), Design=Asymmetrical2023.05 | 0.39 | 18.2 | 78.1 | — | — | |
| FCGF+APR(s)Registration Criterion=Normal (1.5°, 0.6m), Design=Symmetrical2023.05 | 0.43 | 20.6 | 78 | — | — | |
| FCGF+APR(a)Registration Criterion=Loose (5°, 2m), Design=Asymmetrical2023.05 | 0.45 | 37 | 94.5 | — | — | |
| Predator+APR(a)Registration Criterion=Normal (1.5°, 0.6m), Design=Asymmetrical2023.05 | 0.45 | 17.1 | 95.3 | — | — | |
| HRegNet2024.10 | 0.45 | 18 | 99.9 | — | — | |
| FCGFRegistration Criterion=Loose (5°, 2m)2023.05 | 0.46 | 50 | 93.6 | — | — | |
| FCGF+APR(s)Registration Criterion=Loose (5°, 2m), Design=Symmetrical2023.05 | 0.47 | 47 | 98.4 | — | — | |
| Predator+APR(a)Registration Criterion=Loose (5°, 2m), Design=Asymmetrical2023.05 | 0.47 | 19.1 | 99.5 | — | — | |
| DGR2024.10 | 0.48 | 21 | 98.4 | — | — | |
| PredatorRegistration Criterion=Normal (1.5°, 0.6m)2023.05 | 0.52 | 18 | 92.3 | — | — | |
| PredatorRegistration Criterion=Loose (5°, 2m)2023.05 | 0.58 | 20.2 | 97.8 | — | — | |
| RANSAC2024.10 | 0.74 | 21 | 60.9 | — | — | |
| IDAM2024.10 | 0.79 | 47 | 88 | — | — | |
| FGR2024.10 | 1.01 | 71 | 32.2 | — | — | |
| FMR2024.10 | 1.61 | 60 | 92.1 | — | — | |
| DCP2024.10 | 2.07 | 109 | 56.8 | — | — | |
| CoFiNet2024.08 | — | — | — | 62.3 | 56.1 | |
| FCGF2024.08 | — | — | — | 58.2 | 37.8 | |
| GCL2024.08 | — | — | — | 82 | 67.5 | |
| GeoTrans2024.08 | — | — | — | 70.7 | 37.9 | |
| Predetor2024.08 | — | — | — | 53.9 | 48.1 | |
| UMERegRobust2024.08 | — | — | — | 85.5 | 76 |