Table 6 Ablation of different modules

From: Enhancing point cloud registration with transformer: cultural heritage protection of the Terracotta Warriors

Method

3DMatch

3DLoMatch

RR(%)

RRE(\( ^{\circ }\))

RTE(m)

RR(%)

RRE(\( ^{\circ }\))

RTE(m)

Base

93.2

2.155

0.071

71.1

3.071

0.090

+LDI+C-TNet

93.8

1.854

0.063

73.3

2.878

0.078

+GAE+C-TNet

93.6

1.863

0.066

73.7

2.976

0.085

+LGP+Cross

94.0

1.610

0.059

74.9

1.869

0.0.74

+LGP+C-TNet

94.3

1.497

0.041

76.1

2.765

0.068

  1. The best results are in bold
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