Table 2 Performance on Odometry KITTI dataset

FCGF¹⁸

9.5

0.30

96.6

D3Feat³⁰

7.2

0.30

99.8

SpinNet⁴⁰

9.9

0.47

99.1

Predator³¹

6.8

0.27

99.8

HRegNet⁴¹

12

0.29

99.7

GeoTrans³⁶

7.4

0.27

99.8

GeDi⁴³

7.5

0.33

99.8

SHM_DGR⁴²

9.3

0.28

97.6

MAC³⁹

8.4

0.40

99.5

SC² -PCR++⁴⁴

7.1

0.32

99.6

RNC²⁰

10.9

0.51

85.4

RIGA²⁶

13.5

0.45

99.1

Ours

6.5

0.24

99.8