Table 1 Comparison of registration results on Unseen Shapes. Boldfaced numbers highlight the best and the second best are underlined.
From: HarSoNet: a two-stage point cloud registration method integrating soft and hard matching
Method | RMSE(R) | MAE(R) | RMSE(t) | MAE(t) | Error(R) | Error(t) | ||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
OS | TS | OS | TS | OS | TS | OS | TS | OS | TS | OS | TS | |
RANSAC+FPFH | 42.802 | 45.731 | 17.015 | 19.402 | 0.352 | 0.352 | 0.100 | 0.169 | 27.51 | 31.42 | 0.319 | 0.358 |
ICP | 23.196 | 24.298 | 10.512 | 11.160 | 0.328 | 0.331 | 0.155 | 0.152 | 20.964 | 22.452 | 0.314 | 0.345 |
DCP | 6.980 | 8.441 | 5.430 | 8.006 | 0.064 | 0.078 | 0.049 | 0.047 | 12.135 | 12.790 | 0.112 | 0.135 |
RPMNET | 1.138 | 1.556 | 0.929 | 1.255 | 0.014 | 0.015 | 0.013 | 0.014 | 2.266 | 2.467 | 0.024 | 0.025 |
OMNet | 0.857 | 1.261 | 0.781 | 1.142 | 0.007 | 0.011 | 0.006 | 0.009 | 1.454 | 2.066 | 0.012 | 0.018 |
GeoTrans | 0.507 | 1.008 | 0.433 | 0.862 | 0.007 | 0.011 | 0.006 | 0.009 | 0.855 | 1.697 | 0.012 | 0.018 |
Ours | 0.489 | 0.909 | 0.427 | 0.581 | 0.004 | 0.007 | 0.004 | 0.006 | 0.846 | 1.575 | 0.007 | 0.011 |
