Point Cloud Registration

Point Cloud Registration is a fundamental problem in 3D computer vision and photogrammetry. Given several sets of points in different coordinate systems, the aim of registration is to find the transformation that best aligns all of them into a common coordinate system. Point Cloud Registration plays a significant role in many vision applications such as 3D model reconstruction, cultural heritage management, landslide monitoring and solar energy analysis.

Source: Iterative Global Similarity Points : A robust coarse-to-fine integration solution for pairwise 3D point cloud registration

Papers

Recently Added Most Hyped Most Active Needs Verification Most Verified

Showing 76–100 of 447 papers

Title	Date	Tasks	Status	Hype	Score
DeepUME: Learning the Universal Manifold Embedding for Robust Point Cloud Registration	Dec 18, 2021	Point Cloud Registration	CodeCode Available	1	5
DetarNet: Decoupling Translation and Rotation by Siamese Network for Point Cloud Registration	Dec 28, 2021	Point Cloud RegistrationTranslation	CodeCode Available	1	5
PointNetLK Revisited	Aug 21, 2020	Point Cloud Registration	CodeCode Available	1	5
PCRNet: Point Cloud Registration Network using PointNet Encoding	Aug 21, 2019	3D Reconstructionobject-detection	CodeCode Available	1	5
HybridReg: Robust 3D Point Cloud Registration with Hybrid Motions	Mar 10, 2025	Point Cloud Registration	CodeCode Available	1	5
Discrete-Continuous Smoothing and Mapping	Apr 25, 2022	Point Cloud Registration	CodeCode Available	1	5
Correspondence Matrices are Underrated	Oct 30, 2020	Point Cloud Registration	CodeCode Available	1	5
CorrI2P: Deep Image-to-Point Cloud Registration via Dense Correspondence	Jul 12, 2022	Image to Point Cloud RegistrationPoint Cloud Registration	CodeCode Available	1	5
APR: Online Distant Point Cloud Registration Through Aggregated Point Cloud Reconstruction	May 4, 2023	Point cloud reconstructionPoint Cloud Registration	CodeCode Available	1	5
DVI: Depth Guided Video Inpainting for Autonomous Driving	Jul 17, 2020	Autonomous DrivingImage Inpainting	CodeCode Available	1	5
Cross-modal feature fusion for robust point cloud registration with ambiguous geometry	May 19, 2025	Point Cloud Registration	CodeCode Available	1	5
Deep learning based geometric registration for medical images: How accurate can we get without visual features?	Mar 1, 2021	DecoderDescriptive	CodeCode Available	1	5
Cross-Modal Information-Guided Network using Contrastive Learning for Point Cloud Registration	Nov 2, 2023	Contrastive LearningPoint Cloud Registration	CodeCode Available	1	5
HeMoRa: Unsupervised Heuristic Consensus Sampling for Robust Point Cloud Registration	Jan 1, 2025	Point Cloud Registration	CodeCode Available	1	5
D3Feat: Joint Learning of Dense Detection and Description of 3D Local Features	Mar 6, 2020	Point Cloud Registration	CodeCode Available	1	5
Addressing the generalization of 3D registration methods with a featureless baseline and an unbiased benchmark	Mar 23, 2024	BenchmarkingImage to Point Cloud Registration	CodeCode Available	1	5
GlobalMatch: Registration of Forest Terrestrial Point Clouds by Global Matching of Relative Stem Positions	Dec 21, 2021	Point Cloud Registration	CodeCode Available	1	5
End-to-End 3D Point Cloud Learning for Registration Task Using Virtual Correspondences	Nov 30, 2020	Point Cloud Registration	CodeCode Available	1	5
End-to-End Learning Local Multi-view Descriptors for 3D Point Clouds	Mar 12, 2020	Point Cloud Registration	CodeCode Available	1	5
CLIPPER: A Graph-Theoretic Framework for Robust Data Association	Nov 20, 2020	Combinatorial OptimizationPoint Cloud Registration	CodeCode Available	1	5
DeepI2P: Image-to-Point Cloud Registration via Deep Classification	Apr 8, 2021	ClassificationGeneral Classification	CodeCode Available	1	5
DeepCLR: Correspondence-Less Architecture for Deep End-to-End Point Cloud Registration	Jul 22, 2020	Point Cloud Registration	CodeCode Available	1	5
Deep Global Registration	Apr 24, 2020	Point Cloud RegistrationPose Estimation	CodeCode Available	1	5
DeepGMR: Learning Latent Gaussian Mixture Models for Registration	Aug 20, 2020	Point Cloud Registration	CodeCode Available	1	5
HRegNet: A Hierarchical Network for Large-scale Outdoor LiDAR Point Cloud Registration	Jul 26, 2021	Point Cloud Registration	CodeCode Available	1	5

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All datasets ETH (trained on 3DMatch)3DMatch Benchmark 3DMatch (at least 30% overlapped - FCGF setting)KITTI (trained on 3DMatch)3DLoMatch (10-30% overlap)3DMatch (at least 30% overlapped - sample 5k interest points)KITTI (FCGF setting)FPv1 FP-O-E FP-O-H FP-O-M FP-R-E

Benchmark Results

#	Model	Metric	Claimed	Verified	Status
1	Exhaustive Grid Search	Recall (30cm, 5 degrees)	94.25	—	Unverified
2	FCGF+SC2-PCR	Recall (30cm, 5 degrees)	92.85	—	Unverified
3	FPFH+SC2-PCR	Recall (30cm, 5 degrees)	85.41	—	Unverified
4	YOHO-C	Recall (30cm, 5 degrees)	84.85	—	Unverified
5	YOHO-O	Recall (30cm, 5 degrees)	79.94	—	Unverified
6	FCGF+PointDSC	Recall (30cm, 5 degrees)	77.42	—	Unverified
7	FPFH+PointDSC	Recall (30cm, 5 degrees)	41.94	—	Unverified
8	GeoTransformer	Recall (30cm, 5 degrees)	4.91	—	Unverified
9	GO-ICP	Recall (30cm, 5 degrees)	1.54	—	Unverified
10	GeDi	Feature Matching Recall	0.98	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	IMFNet	Feature Matching Recall	98.6	—	Unverified
2	MS-SVConv	Feature Matching Recall	98.4	—	Unverified
3	GeDi (no code published as of May 27 2021)	Feature Matching Recall	97.9	—	Unverified
4	SpinNet (no code published as of Dec 15 2020)	Feature Matching Recall	97.6	—	Unverified
5	LMVD	Feature Matching Recall	97.5	—	Unverified
6	DIP + Point-TnT	Feature Matching Recall	96.8	—	Unverified
7	D3Feat-Pred	Feature Matching Recall	95.8	—	Unverified
8	D3Feat-rand	Feature Matching Recall	95.3	—	Unverified
9	DIP	Feature Matching Recall	94.8	—	Unverified
10	3DSmoothNet	Feature Matching Recall	94.7	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	NgeNet	Recall (0.3m, 15 degrees)	95	—	Unverified
2	GeoTransformer	Recall (0.3m, 15 degrees)	95	—	Unverified
3	PCAM-Sparse (All post-processing)	Recall (0.3m, 15 degrees)	92.4	—	Unverified
4	PCAM-Soft (All post-processing)	Recall (0.3m, 15 degrees)	91.3	—	Unverified
5	DGR (RE (all), TE(all) are reported in PCAM)	Recall (0.3m, 15 degrees)	91.3	—	Unverified
6	Exhaustive Grid Search	Recall (0.3m, 15 degrees)	84.11	—	Unverified
7	RANSAC-2M	Recall (0.3m, 15 degrees)	66.1	—	Unverified
8	FGR	Recall (0.3m, 15 degrees)	42.7	—	Unverified
9	Go-ICP	Recall (0.3m, 15 degrees)	22.9	—	Unverified
10	Super4PCS	Recall (0.3m, 15 degrees)	21.6	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Success Rate	98.92	—	Unverified
2	FCGF+SC2-PCR	Success Rate	97.66	—	Unverified
3	FCGF+PointDSC	Success Rate	96.76	—	Unverified
4	Exhaustive Grid Search	Success Rate	94.95	—	Unverified
5	FPFH+PointDSC	Success Rate	94.05	—	Unverified
6	DIP	Success Rate	93.51	—	Unverified
7	Greedy Grid Search	Success Rate	90.27	—	Unverified
8	YOHO-C	Success Rate	82.16	—	Unverified
9	YOHO-O	Success Rate	81.44	—	Unverified
10	SpinNet	Success Rate	81.44	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	CoFF	Recall ( correspondence RMSE below 0.2)	81.6	—	Unverified
2	GeoTransformer - P2PNet	Recall ( correspondence RMSE below 0.2)	74	—	Unverified
3	NgeNet	Recall ( correspondence RMSE below 0.2)	71.9	—	Unverified
4	REGTR	Recall ( correspondence RMSE below 0.2)	64.8	—	Unverified
5	Predator-1k	Recall ( correspondence RMSE below 0.2)	62.5	—	Unverified
6	Predator-5k	Recall ( correspondence RMSE below 0.2)	59.8	—	Unverified
7	PCAM (reported in REGTR)	Recall ( correspondence RMSE below 0.2)	54.9	—	Unverified
8	DGR (reported in REGTR)	Recall ( correspondence RMSE below 0.2)	48.7	—	Unverified
9	FCGF (reported in PREDATOR)	Recall ( correspondence RMSE below 0.2)	40.1	—	Unverified
10	D3Feat (reported in PREDATOR)	Recall ( correspondence RMSE below 0.2)	37.2	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	NgeNet	Recall ( correspondence RMSE below 0.2)	92.9	—	Unverified
2	REGTR	Recall ( correspondence RMSE below 0.2)	92	—	Unverified
3	Predator-1k	Recall ( correspondence RMSE below 0.2)	90.5	—	Unverified
4	Predator-5k	Recall ( correspondence RMSE below 0.2)	89	—	Unverified
5	PCAM (reported in REGTR)	Recall ( correspondence RMSE below 0.2)	85.5	—	Unverified
6	DGR (reported in REGTR)	Recall ( correspondence RMSE below 0.2)	85.3	—	Unverified
7	FCGF (reported in PREDATOR)	Recall ( correspondence RMSE below 0.2)	85.1	—	Unverified
8	D3Feat (reported in PREDATOR)	Recall ( correspondence RMSE below 0.2)	81.6	—	Unverified
9	3DSN (reported in PREDATOR)	Recall ( correspondence RMSE below 0.2)	78.4	—	Unverified
10	Predator-NR	Recall ( correspondence RMSE below 0.2)	62.7	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeoTransformer	Recall (0.6m, 5 degrees)	99.5	—	Unverified
2	DGR + ICP (RE (all), TE(all) are reported in PCAM)	Recall (0.6m, 5 degrees)	98.2	—	Unverified
3	FCGF	Recall (0.6m, 5 degrees)	98.2	—	Unverified
4	PCAM-soft + ICP	Recall (0.6m, 5 degrees)	98	—	Unverified
5	PCAM-Sparse + ICP	Recall (0.6m, 5 degrees)	97.4	—	Unverified
6	PCAM - Soft	Recall (0.6m, 5 degrees)	97.2	—	Unverified
7	DGR (RE (all), TE(all) are reported in PCAM)	Recall (0.6m, 5 degrees)	96.9	—	Unverified
8	PCAM-Sparse	Recall (0.6m, 5 degrees)	96.5	—	Unverified
9	Exhaustive Grid Search	Recall (0.6m, 5 degrees)	94.59	—	Unverified
10	RANSAC	Recall (0.6m, 5 degrees)	34.2	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Greedy Grid Search	Recall (3cm, 10 degrees)	92.81	—	Unverified
2	GeoTransformer	Recall (3cm, 10 degrees)	56.15	—	Unverified
3	DIP	Recall (3cm, 10 degrees)	54.81	—	Unverified
4	FCGF + PointDSC	Recall (3cm, 10 degrees)	47.85	—	Unverified
5	SpinNet	Recall (3cm, 10 degrees)	42.46	—	Unverified
6	FCGF + YOHO-C	Recall (3cm, 10 degrees)	29.18	—	Unverified
7	FCGF + YOHO-O	Recall (3cm, 10 degrees)	18.91	—	Unverified
8	FPFH-8M	Recall (3cm, 10 degrees)	9.51	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	99.88	—	Unverified
2	GeDi	Recall (3cm, 10 degrees)	99.64	—	Unverified
3	Exhaustive Grid Search	Recall (3cm, 10 degrees)	99.47	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	98.52	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	63.94	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	38.85	—	Unverified
2	Exhaustive Grid Search	Recall (3cm, 10 degrees)	37.06	—	Unverified
3	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	17.8	—	Unverified
4	GeDi	Recall (3cm, 10 degrees)	8.7	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	2.64	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Exhaustive Grid Search	Recall (3cm, 10 degrees)	88.06	—	Unverified
2	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	84.7	—	Unverified
3	GeDi	Recall (3cm, 10 degrees)	75.4	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	63	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	22.07	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Recall (3cm, 10 degrees)	99.76	—	Unverified
2	Exhaustive Grid Search	Recall (3cm, 10 degrees)	99.64	—	Unverified
3	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	99.64	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	98.46	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	64.12	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Recall (3cm, 10 degrees)	99.41	—	Unverified
2	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	85.77	—	Unverified
3	Exhaustive Grid Search	Recall (3cm, 10 degrees)	78	—	Unverified
4	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	75.21	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	47.75	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Recall (3cm, 10 degrees)	99.94	—	Unverified
2	Exhaustive Grid Search	Recall (3cm, 10 degrees)	97.92	—	Unverified
3	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	94.54	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	91.93	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	55.93	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0.06	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	99.76	—	Unverified
2	Exhaustive Grid Search	Recall (3cm, 10 degrees)	99.7	—	Unverified
3	GeDi	Recall (3cm, 10 degrees)	99.47	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	98.34	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	66.25	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Recall (3cm, 10 degrees)	99.7	—	Unverified
2	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	99.58	—	Unverified
3	Exhaustive Grid Search	Recall (3cm, 10 degrees)	98.81	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	98.22	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	64.18	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Exhaustive Grid Search	Recall (3cm, 10 degrees)	99.82	—	Unverified
2	GeDi	Recall (3cm, 10 degrees)	99.7	—	Unverified
3	FPFH+SC2-PCR	Recall (3cm, 10 degrees)	99.53	—	Unverified
4	FCGF+SC2-PCR	Recall (3cm, 10 degrees)	98.34	—	Unverified
5	GeoTransformer	Recall (3cm, 10 degrees)	64.29	—	Unverified
6	GO-ICP	Recall (3cm, 10 degrees)	0	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Success Rate	99.82	—	Unverified
2	D3Feat-pred	Success Rate	99.81	—	Unverified
3	SpinNet	Success Rate	99.1	—	Unverified
4	DIP	Success Rate	97.3	—	Unverified
5	FCGF	Success Rate	96.57	—	Unverified
6	3DFeat-Net	Success Rate	95.97	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	UMERegRobust	RR@(1.5,0.3)	81.1	—	Unverified
2	GeoTransformer	RR@(1.5,0.3)	78.5	—	Unverified
3	CoFiNet	RR@(1.5,0.3)	62.5	—	Unverified
4	PREDATOR	RR@(1.5,0.3)	41.6	—	Unverified
5	GCL	RR@(1.5,0.3)	40.1	—	Unverified
6	FCGF	RR@(1.5,0.3)	11.6	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GeDi	Recall	0.92	—	Unverified
2	SpinNet	Recall	0.85	—	Unverified
3	D3Feat-pred	Recall	0.63	—	Unverified
4	FCGF	Recall	0.33	—	Unverified
5	FPFH	Recall	0.14	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GCL+KPConv	mRR @ Normal Criterion (1.5°&0.3m)	88.8	—	Unverified
2	GCL+Conv	mRR @ Normal Criterion (1.5°&0.3m)	83.5	—	Unverified
3	Predator+APR(a)	mRR @ Normal Criterion (1.5°&0.3m)	78.2	—	Unverified
4	FCGF+APR(s)	mRR @ Normal Criterion (1.5°&0.3m)	62.9	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GCL+KPConv	mRR @ Normal Criterion (1.5°&0.3m)	71.5	—	Unverified
2	GCL+Conv	mRR @ Normal Criterion (1.5°&0.3m)	70.2	—	Unverified
3	FCGF+APR(s)	mRR @ Normal Criterion (1.5°&0.3m)	62.9	—	Unverified
4	Predator+APR(a)	mRR @ Normal Criterion (1.5°&0.3m)	52.2	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	CoFF	Recall ( correspondence RMSE below 0.2)	78.7	—	Unverified
2	GeoTransformer	Recall ( correspondence RMSE below 0.2)	73.4	—	Unverified
3	Predator	Recall ( correspondence RMSE below 0.2)	63.7	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	SGAligner	CD	0.01	—	Unverified
2	SG-PGM	CD	0.01	—	Unverified