Scene Registration on Aria Digital Twin Single-ARIA
87Rotation Recall (RR)PROSE FCGF
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| PROSE FCGFType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 87 | 5.38 | 0.22 | |
| PROSE FPFHType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 80.1 | 9.6 | 0.38 | |
| TEASER++ FPFHType=Scene-level registration, Point Cloud Source=Ground-truth (GT)2026.06 | 76.2 | 12.31 | 0.54 | |
| PROSE GeoTransType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 76.2 | 10.84 | 0.44 | |
| TEASER++ FCGFType=Scene-level registration, Point Cloud Source=Ground-truth (GT)2026.06 | 73.8 | 13.18 | 0.59 | |
| BUFFER-XType=Scene-level registration, Point Cloud Source=Ground-truth (GT)2026.06 | 56.1 | 13.24 | 0.72 | |
| PROSE GeoTransType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 55.1 | 14.71 | 0.66 | |
| PROSE FPFHType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 51.2 | 18.33 | 0.8 | |
| PROSE FCGFType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 49.3 | 14.64 | 0.69 | |
| SG-RegType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 47.8 | 20.74 | 2.24 | |
| TEASER++ FPFHType=Scene-level registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 43.6 | 20.28 | 1.06 | |
| BUFFER-XType=Scene-level registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 35.3 | 20.28 | 1.17 | |
| SG-RegType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 20.7 | 29.57 | 3.27 |