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Papers Benchmarks Datasets Tasks

Point cloud registration research benchmarks – Page 6 · SOTA2 Research

Point cloud registration

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

ModelNet40 categories 1-20 (held-out models)

ReAgent (ours IL)

1.46MAE (Rotation)

6

Feb 26, 2026

ScanObjectNN Segmented Objects (test)

0.11MAE R

6

Feb 26, 2026

ModelNet40 with Gaussian noise (test)

1.169MSE (R)

6

Feb 26, 2026

ModelNet40 v1 (test)

1.307MSE (R)

6

Feb 26, 2026

ScanNet SuperGlue v1

89.5Rotation Accuracy @ 5 deg

5

Apr 21, 2026

Underwater Pipeline B

0.69RMSE

5

Feb 26, 2026

Underwater Pipeline A

1.03RMSE

5

Feb 26, 2026

3.95RMSE

5

Feb 26, 2026

3RScan 65 (test)

61.11RR

5

Feb 26, 2026

FlyingShape (test)

23.17RR

5

Feb 26, 2026

6.9RTE Avg (cm)

5

Feb 26, 2026

57.32RE AUC (5 deg)

5

Feb 26, 2026

Indoor 70% overlapped

6Time (s)

5

Feb 26, 2026

Park (65% overlapped)

8.1Time (s)

5

Feb 26, 2026

Stanford (30% overlapped)

5.3Latency (s)

5

Feb 26, 2026

KITTI Sequence 06

100Recall

4

Jun 30, 2026

KITTI Sequence 05

99.07Recall

4

Jun 30, 2026

KITTI Sequence 02

99.87Recall

4

Jun 30, 2026

KITTI Sequence 00

100Recall

4

Jun 30, 2026

KITTI (Sequence 10)

0.066RRE

4

Jun 29, 2026

KITTI (Sequence 09)

0.053Relative Rotation Error (RRE)

4

Jun 29, 2026

KITTI (Sequence 08)

0.06RRE

4

Jun 29, 2026

KITTI (Sequence 07)

0.049Relative Rotation Error (RRE)

4

Jun 29, 2026

Wild Places Sequence K-04

0.173RRE (°)

4

Jun 29, 2026

Wild Places Sequence K-03

0.452RRE (°)

4

Jun 29, 2026

Page 6 of 7

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