Scene Registration on Aria Digital Twin (Total)
89.2Rotation Recall (RR)PROSE FCGF
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| PROSE FCGFType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 89.2 | 4.16 | 0.17 | 100 | |
| PROSE FPFHType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 82.5 | 7.44 | 0.3 | 100 | |
| TEASER++ FPFHType=Scene-level registration, Point Cloud Source=Ground-truth (GT)2026.06 | 80.3 | 8.83 | 0.4 | 100 | |
| TEASER++ FCGFType=Scene-level registration, Point Cloud Source=Ground-truth (GT)2026.06 | 79.4 | 9.63 | 0.44 | 93.1 | |
| PROSE GeoTransType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 78.8 | 8.85 | 0.36 | 100 | |
| BUFFER-XType=Scene-level registration, Point Cloud Source=Ground-truth (GT)2026.06 | 61.7 | 10.57 | 0.59 | 100 | |
| PROSE GeoTransType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 56.2 | 12.55 | 0.59 | 96 | |
| PROSE FCGFType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 50 | 13.21 | 0.63 | 95.5 | |
| PROSE FPFHType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 49.9 | 15.71 | 0.7 | 95.5 | |
| SG-RegType=Scene-graph registration, Point Cloud Source=Ground-truth (GT)2026.06 | 46.9 | 19.76 | 2.12 | 77 | |
| TEASER++ FPFHType=Scene-level registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 44.4 | 17.11 | 0.97 | 99.7 | |
| BUFFER-XType=Scene-level registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 37.1 | 16.95 | 1.03 | 100 | |
| SG-RegType=Scene-graph registration, Point Cloud Source=VGGT-Omega predicted2026.06 | 19.1 | 29.58 | 3.27 | 76.3 |