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Papers Benchmarks Datasets Tasks

Point cloud registration research benchmarks – Page 3 · SOTA2 Research

Point cloud registration

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

MP3DObject target domain (evaluation)

2.84Chamfer Distance (CD)

12

Mar 24, 2026

ScanObjectNN target domain (test)

3.03Chamfer Distance (CD)

12

Mar 24, 2026

ScanNet target domain (Evaluation)

3.63Chamfer Distance (CD)

12

Mar 24, 2026

ShapeNet target domain (Evaluation)

Vanilla Mamba ICL

6.25Chamfer Distance (CD)

12

Mar 24, 2026

ModelNet target domain (eval)

3.81Chamfer Distance (CD)

12

Mar 24, 2026

89.5mRR

12

Feb 26, 2026

3DMatch Origin v1

90.8Registration Recall

12

Feb 26, 2026

3DMatch FCGF descriptors

93.72Registration Recall (%)

11

Feb 27, 2026

3DMatch FPFH descriptors

83.9RR

11

Feb 27, 2026

ModelNet40 Gaussian Noise twice-sampled (test)

1.305RMSE (R)

11

Feb 26, 2026

PVT def -> rigid

denoised Mean Teacher

2.38TRE

11

Feb 26, 2026

3DLoMatch Rotated v1

65.9Registration Recall

11

Feb 26, 2026

3DLoMatch v1 (Origin)

65.2Registration Recall

11

Feb 26, 2026

3DMatch Rotated v1

90.6Registration Recall

11

Feb 26, 2026

3DMatch Indoor (test)

92Rotation Rate

11

Feb 26, 2026

3DMatch official (test)

95.1Rotation Accuracy @ 5°

10

Apr 21, 2026

ModelNet40 Unseen Shapes RPMNet manner (test)

0.771RMSE (Rotation)

10

Feb 26, 2026

ModelNet40 Unseen Categories with Gaussian Noise RPMNet manner (TS)

4.356RMSE (R)

10

Feb 26, 2026

nuScenes (test)

85.5mRR

10

Feb 26, 2026

ModelLoNet p=0.5 (test)

3.638RRE

10

Feb 26, 2026

ModelNet p=0.7 (test)

2.064Rotation Error (RRE)

10

Feb 26, 2026

ModelNet40 partial-overlap

1.292Rotation Error (RRE)

9

Jun 29, 2026

Stanford Bunny Reference configuration bun_zipper.ply

0.21Rotation Error (°)

9

Jun 16, 2026

Probabilistic Self-Update PCR

0.051Rotation Error (°)

9

Apr 30, 2026

ETH generalization from KITTI (test)

5.25RTE (cm)

9

Feb 26, 2026

Page 3 of 7

Popular datasets

KITTI ModelNet 3DMatch 3DLoMatch nuScenes

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