Point Cloud Registration on 3DLoMatch (10-30% overlap)

Metric: Recall ( correspondence RMSE below 0.2) (lower is better)

LeaderboardDataset

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Results

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#	Model↕	Recall ( correspondence RMSE below 0.2)▲	Extra Data	Paper	Date↕	Code
1	OMNet (reported in REGTR)	8.4	No	OMNet: Learning Overlapping Mask for Partial-to-...	2021-03-01	Code
2	Predator-NR	24	No	PREDATOR: Registration of 3D Point Clouds with L...	2020-11-25	Code
3	3DSN (reported in PREDATOR)	33	No	The Perfect Match: 3D Point Cloud Matching with ...	2018-11-16	Code
4	D3Feat (reported in PREDATOR)	37.2	No	D3Feat: Joint Learning of Dense Detection and De...	2020-03-06	Code
5	FCGF (reported in PREDATOR)	40.1	No	-	-	Code
6	DGR (reported in REGTR)	48.7	No	Deep Global Registration	2020-04-24	Code
7	PCAM (reported in REGTR)	54.9	No	PCAM: Product of Cross-Attention Matrices for Ri...	2021-10-04	Code
8	Predator-5k	59.8	No	PREDATOR: Registration of 3D Point Clouds with L...	2020-11-25	Code
9	Predator-1k	62.5	No	PREDATOR: Registration of 3D Point Clouds with L...	2020-11-25	Code
10	REGTR	64.8	No	REGTR: End-to-end Point Cloud Correspondences wi...	2022-03-28	Code
11	NgeNet	71.9	No	Leveraging Inlier Correspondences Proportion for...	2022-01-28	Code
12	GeoTransformer - P2PNet	74	No	Geometric Transformer for Fast and Robust Point ...	2022-02-14	Code
13	CoFF	81.6	No	Cross-modal feature fusion for robust point clou...	2025-05-19	Code

#1OMNet (reported in REGTR)SOTA
8.4
Recall ( correspondence RMSE below 0.2)· 2021-03-01
OMNet: Learning Overlapping Mask for Partial-to-Partial Point Cloud Registration Code
#2Predator-NRSOTA
24
Recall ( correspondence RMSE below 0.2)· 2020-11-25
PREDATOR: Registration of 3D Point Clouds with Low Overlap Code
#33DSN (reported in PREDATOR)SOTA
33
Recall ( correspondence RMSE below 0.2)· 2018-11-16
The Perfect Match: 3D Point Cloud Matching with Smoothed Densities Code
#4D3Feat (reported in PREDATOR)
37.2
Recall ( correspondence RMSE below 0.2)· 2020-03-06
D3Feat: Joint Learning of Dense Detection and Description of 3D Local Features Code
#5FCGF (reported in PREDATOR)
40.1
Recall ( correspondence RMSE below 0.2)
No paperCode
#6DGR (reported in REGTR)
48.7
Recall ( correspondence RMSE below 0.2)· 2020-04-24
Deep Global Registration Code
#7PCAM (reported in REGTR)
54.9
Recall ( correspondence RMSE below 0.2)· 2021-10-04
PCAM: Product of Cross-Attention Matrices for Rigid Registration of Point Clouds Code
#8Predator-5k
59.8
Recall ( correspondence RMSE below 0.2)· 2020-11-25
PREDATOR: Registration of 3D Point Clouds with Low Overlap Code
#9Predator-1k
62.5
Recall ( correspondence RMSE below 0.2)· 2020-11-25
PREDATOR: Registration of 3D Point Clouds with Low Overlap Code
#10REGTR
64.8
Recall ( correspondence RMSE below 0.2)· 2022-03-28
REGTR: End-to-end Point Cloud Correspondences with Transformers Code
#11NgeNet
71.9
Recall ( correspondence RMSE below 0.2)· 2022-01-28
Leveraging Inlier Correspondences Proportion for Point Cloud Registration Code
#12GeoTransformer - P2PNet
74
Recall ( correspondence RMSE below 0.2)· 2022-02-14
Geometric Transformer for Fast and Robust Point Cloud Registration Code
#13CoFF
81.6
Recall ( correspondence RMSE below 0.2)· 2025-05-19
Cross-modal feature fusion for robust point cloud registration with ambiguous geometry Code