Scene Registration on Aria Digital Twin Multi-ARIA
91.2Rotation Recall (RR)PROSE FCGF
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| PROSE FCGFType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 91.2 | 3.01 | 0.13 | |
| TEASER++ FCGFType=Scene-level registration, Point Cloud Source=Ground-truth (GT)2026.06 | 85.6 | 5.68 | 0.27 | |
| PROSE FPFHType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 84.7 | 5.4 | 0.22 | |
| TEASER++ FPFHType=Scene-level registration, Point Cloud Source=Ground-truth (GT)2026.06 | 84.3 | 5.46 | 0.26 | |
| PROSE GeoTransType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 81.2 | 6.96 | 0.29 | |
| BUFFER-XType=Scene-level registration, Point Cloud Source=Ground-truth (GT)2026.06 | 67.2 | 8.01 | 0.45 | |
| PROSE GeoTransType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 57.3 | 10.49 | 0.51 | |
| PROSE FCGFType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 50.6 | 11.87 | 0.57 | |
| PROSE FPFHType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 48.8 | 13.23 | 0.61 | |
| SG-RegType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 45.8 | 18.53 | 1.97 | |
| TEASER++ FPFHType=Scene-level registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 45.3 | 14.04 | 0.87 | |
| BUFFER-XType=Scene-level registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 38.9 | 13.73 | 0.9 | |
| SG-RegType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 17.1 | 29.61 | 3.27 |