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Papers Benchmarks Datasets Tasks

Point cloud registration research benchmarks – Page 2 · SOTA2 Research

Point cloud registration

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

ModelNet40 PRNet generation manner with Gaussian noise (unseen categories)

2.203RMSE (Rotation)

20

Feb 26, 2026

nuScenes v1.0-trainval (test)

99RR

20

Feb 26, 2026

KITTI LiDAR sequences (00-07)

2.18Angular RMSE

18

Feb 26, 2026

KAIST Avia → Ouster

96.03Registration Success Rate

17

Feb 26, 2026

TIERS Vel16 → OS128

84.32Registration Success Rate

17

Feb 26, 2026

TIERS OS64 → Vel16

0.995Registration Success Rate

17

Feb 26, 2026

TIERS OS128 → OS64

98.92Registration Success Rate

17

Feb 26, 2026

87.6Relative Recall

17

Feb 26, 2026

0.64Rotation Error (RRE)

17

Jul 1, 2026

ModelLoNet 40 (test)

3.578RRE

17

Feb 26, 2026

3DLoMatch indoor RGBD (test)

80Recall (5k samples)

16

Feb 26, 2026

3DMatch indoor RGBD (test)

95.2Registration Recall (5k samples)

16

Feb 26, 2026

99.5Recall

16

Feb 27, 2026

0.33RRE (°)

15

Feb 26, 2026

ModelNet40 (clean)

0.006Rotation Error (RRE)

14

Jun 29, 2026

PCPNet Striped Density all (test)

0.631Rotation Error (RRE) (◦)

14

Jun 29, 2026

PCPNet Gradient Density all (test)

0.886RRE (deg)

14

Jun 29, 2026

PCPNet High Noise (test)

0.716Rotation Error (RRE)

14

Jun 29, 2026

Color3DLoMatch (C3DLM) indoor

90.7Registration Recall

14

Apr 21, 2026

Color3DMatch (C3DM) indoor

97.9Registration Recall

14

Apr 21, 2026

ColorKitti (test)

5.7RTE (cm)

13

Apr 21, 2026

3DMatch 2017 (test)

Generative FCGF

94.3Rotation Acc (5°)

13

Feb 26, 2026

ScanNet 50-frame separation (test)

Generative FCGF

82.9Rotation Acc (5°)

13

Feb 26, 2026

0.09Model Time (s)

13

Feb 26, 2026

PVT def -> 2-scale rnd. field

denoised Mean Teacher

2.31TRE

13

Feb 26, 2026

Page 2 of 7

Popular datasets

KITTI ModelNet 3DMatch 3DLoMatch nuScenes

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