Point Cloud Registration on Oxford Stereo DSO
0.35RTE (m)DH3D + 3DSmoothNet
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| DH3D + 3DSmoothNetDetector=DH3D, Descriptor=3DSmoothNet, Fine-tuning=false2020.07 | 0.35 | 2.01 | 77.9 | 5,764 | |
| DH3D + DH3DDetector=DH3D, Descriptor=DH3D, Fine-tuning=false2020.07 | 0.36 | 1.58 | 90.6 | 7,071 | |
| 3DFeatNet + 3DSmoothNetDetector=3DFeatNet, Descriptor=3DSmoothNet, Fine-tuning=false2020.07 | 0.38 | 2.22 | 66.6 | 5,235 | |
| Harris-3D + DH3DDetector=Harris-3D, Descriptor=DH3D, Fine-tuning=false2020.07 | 0.39 | 2.27 | 68.1 | 7,860 | |
| USIP + 3DSmoothNetDetector=USIP, Descriptor=3DSmoothNet, Fine-tuning=false2020.07 | 0.39 | 2.27 | 77.3 | 5,593 | |
| DH3D + 3DFeatNetDetector=DH3D, Descriptor=3DFeatNet, Fine-tuning=false2020.07 | 0.41 | 1.84 | 89.3 | 7,818 | |
| ISS + DH3DDetector=ISS, Descriptor=DH3D, Fine-tuning=false2020.07 | 0.48 | 1.72 | 90.2 | 6,312 | |
| Harris-3D + 3DSmoothNetDetector=Harris-3D, Descriptor=3DSmoothNet, Fine-tuning=false2020.07 | 0.48 | 2.07 | 74.9 | 6,251 | |
| Harris-3D + FCGFDetector=Harris-3D, Descriptor=FCGF, Fine-tuning=false2020.07 | 0.48 | 2.63 | 74.03 | 5,482 | |
| DH3D + FCGFDetector=DH3D, Descriptor=FCGF, Fine-tuning=false2020.07 | 0.48 | 2.43 | 69.55 | 5,002 | |
| Harris-3D + FPFHDetector=Harris-3D, Descriptor=FPFH, Fine-tuning=false2020.07 | 0.49 | 2.67 | 45.67 | 9,130 | |
| Random + FCGFDetector=Random, Descriptor=FCGF, Fine-tuning=false2020.07 | 0.51 | 2.65 | 74.93 | 5,613 | |
| ISS + FCGFDetector=ISS, Descriptor=FCGF, Fine-tuning=false2020.07 | 0.51 | 2.57 | 71.94 | 6,015 | |
| USIP + FCGFDetector=USIP, Descriptor=FCGF, Fine-tuning=false2020.07 | 0.51 | 2.65 | 67.46 | 3,846 | |
| 3DFeatNet + FCGFDetector=3DFeatNet, Descriptor=FCGF, Fine-tuning=false2020.07 | 0.54 | 2.64 | 60.9 | 4,409 | |
| USIP + FPFHDetector=USIP, Descriptor=FPFH, Fine-tuning=false2020.07 | 0.54 | 2.98 | 48.96 | 7,248 | |
| Random + FPFHDetector=Random, Descriptor=FPFH, Fine-tuning=false2020.07 | 0.56 | 2.82 | 53.13 | 9,030 | |
| ISS + FPFHDetector=ISS, Descriptor=FPFH, Fine-tuning=false2020.07 | 0.56 | 3.03 | 43.58 | 9,210 | |
| ISS + 3DFeatNetDetector=ISS, Descriptor=3DFeatNet, Fine-tuning=false2020.07 | 0.58 | 2.41 | 71.9 | 9,776 | |
| DH3D + FPFHDetector=DH3D, Descriptor=FPFH, Fine-tuning=false2020.07 | 0.6 | 2.92 | 48.96 | 8,914 | |
| 3DFeatNet + FPFHDetector=3DFeatNet, Descriptor=FPFH, Fine-tuning=false2020.07 | 0.62 | 3.05 | 35.52 | 7,704 | |
| USIP + DH3DDetector=USIP, Descriptor=DH3D, Fine-tuning=false2020.07 | 0.65 | 2.45 | 68.1 | 6,824 | |
| Harris-3D + 3DFeatNetDetector=Harris-3D, Descriptor=3DFeatNet, Fine-tuning=false2020.07 | 0.66 | 2.26 | 64.5 | 9,528 | |
| ISS + 3DSmoothNetDetector=ISS, Descriptor=3DSmoothNet, Fine-tuning=false2020.07 | 0.67 | 2.15 | 79.1 | 6,446 | |
| Random + 3DSmoothNetDetector=Random, Descriptor=3DSmoothNet, Fine-tuning=false2020.07 | 0.7 | 2.19 | 73.1 | 6,109 | |
| Random + DH3DDetector=Random, Descriptor=DH3D, Fine-tuning=false2020.07 | 0.7 | 2.23 | 71.9 | 7,565 | |
| Random + 3DFeatNetDetector=Random, Descriptor=3DFeatNet, Fine-tuning=false2020.07 | 0.72 | 2.37 | 69 | 9,661 | |
| 3DFeatNet + DH3DDetector=3DFeatNet, Descriptor=DH3D, Fine-tuning=false2020.07 | 0.74 | 2.38 | 80.9 | 7,124 | |
| USIP + 3DFeatNetDetector=USIP, Descriptor=3DFeatNet, Fine-tuning=false2020.07 | 0.85 | 2.24 | 69.9 | 8,389 | |
| 3DFeatNet + 3DFeatNetDetector=3DFeatNet, Descriptor=3DFeatNet, Fine-tuning=false2020.07 | 0.92 | 1.97 | 84.1 | 8,071 |