Table 7 Ablation of different modules on ModelNet40 dataset. Boldfaced numbers highlight the best.
From: HarSoNet: a two-stage point cloud registration method integrating soft and hard matching
SDPS | PDS | HTH | HTS | Error(R) | Error(t) | |
|---|---|---|---|---|---|---|
1) | \(\checkmark\) | \(\checkmark\) | 3.411 | 0.041 | ||
2) | \(\checkmark\) | \(\checkmark\) | 3.041 | 0.035 | ||
3) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | 1.736 | 0.019 | |
4) | \(\checkmark\) | \(\checkmark\) | \(\checkmark\) | 1.376 | 0.015 |
