Point Cloud Registration on TUM RGB-D SLAM (test)
0.2RMSE (xyz)CMHANet
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| CMHANetPre-training Dataset=3DMatch, Fine-tuning=none2026.03 | 0.2 | 0.3 | 0.51 | 0.6 | 0.32 | 1.8 | 1.4 | 1 | 0.76 | |
| Robust ICPFine-tuning=none2026.03 | 0.5 | 2.2 | 1 | 1.2 | 0.65 | 3.2 | 2.4 | 2.4 | 1.69 | |
| DGRFine-tuning=none2026.03 | 0.6 | 1.4 | 1 | 1.2 | 0.71 | 2.6 | 2.1 | 1.9 | 1.44 | |
| Sparse ICPFine-tuning=none2026.03 | 1.6 | 4.8 | 1.8 | 1.8 | 0.88 | 3.9 | 3.3 | 3.2 | 2.66 | |
| ICPFine-tuning=none2026.03 | 2.1 | 5.1 | 2.1 | 2.3 | 1.6 | 3.7 | 3.1 | 2.7 | 2.8 | |
| AA-ICPFine-tuning=none2026.03 | 2.1 | 5.1 | 2.1 | 2.3 | 1.6 | 3.7 | 3.1 | 2.7 | 2.8 | |
| Teaser++Fine-tuning=none2026.03 | 3.4 | 20 | 11 | 8 | 6.1 | 21 | 23 | 20 | 14.06 | |
| DCPFine-tuning=none2026.03 | 6.5 | 10 | 6.6 | 7 | 5.6 | 7.4 | 7.5 | 6.3 | 7.11 |