Table 1 Performance on 3DMatch and 3DLoMatch datasets
Method | 3DMatch | 3DLoMatch | Param.(M) | Time(s) | ||||
|---|---|---|---|---|---|---|---|---|
RR(%) | RRE(\( ^{\circ }\)) | RTE(m) | RR(%) | RRE(\( ^{\circ }\)) | RTE(m) | |||
FCGF[36] | 85.1 | 1.949 | 0.066 | 40.1 | 3.147 | 0.100 | 8.76 | 0.16 |
D3Feat[28] | 81.6 | 2.161 | 0.067 | 37.2 | 3.361 | 0.103 | 24.3 | 0.40 |
OMNet[37] | 90.5 | 4.166 | 0.105 | 8.40 | 7.299 | 0.151 | – | – |
Predator[29] | 89.0 | 2.029 | 0.064 | 59.8 | 3.048 | 0.093 | 7.43 | 0.54 |
REGTR[35] | 92.0 | 1.567 | 0.049 | 64.8 | 2.827 | 0.077 | – | – |
GeoTrans[38] | 92.0 | 1.808 | 0.063 | 74.0 | 2.934 | 0.089 | 9.83 | 0.23 |
UDPReg[39] | 91.4 | 1.642 | 0.064 | 64.3 | 2.951 | 0.086 | – | – |
RoReg[40] | 93.2 | 1.840 | 0.063 | 71.2 | 3.090 | 0.093 | – | – |
MAC[41] | 93.7 | 1.890 | 0.062 | 59.8 | 3.500 | 0.098 | – | – |
RIGA[42] | 89.3 | 1.798 | 0.056 | 65.1 | 3.016 | 0.089 | – | – |
Our | 94.3 | 1.497 | 0.041 | 76.1 | 2.765 | 0.068 | 7.5 | 0.16 |
