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 251–300 of 447 papers

Title	Date	Tasks	Status	Hype
A Representation Separation Perspective to Correspondences-free Unsupervised 3D Point Cloud Registration	Mar 24, 2022	Point Cloud Registration	—Unverified	0
A multi-organ point cloud registration algorithm for abdominal CT registration	Mar 15, 2022	Point Cloud RegistrationSegmentation	—Unverified	0
Translation Invariant Global Estimation of Heading Angle Using Sinogram of LiDAR Point Cloud	Mar 2, 2022	Point Cloud RegistrationTranslation	—Unverified	0
TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis	Feb 28, 2022	Camera CalibrationPoint Cloud Registration	—Unverified	0
Reliable Inlier Evaluation for Unsupervised Point Cloud Registration	Feb 23, 2022	Model OptimizationPoint Cloud Registration	CodeCode Available	1
Deep Bayesian ICP Covariance Estimation	Feb 23, 2022	Point Cloud RegistrationSensor Fusion	—Unverified	0
Estimation of Looming from LiDAR	Feb 22, 2022	Collision AvoidancePoint Cloud Registration	—Unverified	0
Fast Semantic-Assisted Outlier Removal for Large-scale Point Cloud Registration	Feb 21, 2022	Point Cloud RegistrationSemantic Segmentation	—Unverified	0
PCRP: Unsupervised Point Cloud Object Retrieval and Pose Estimation	Feb 16, 2022	ObjectPoint Cloud Registration	—Unverified	0
Geometric Transformer for Fast and Robust Point Cloud Registration	Feb 14, 2022	Metric LearningPoint Cloud Registration	CodeCode Available	2
A multi-organ point cloud registration algorithm for abdominal CT registration	Feb 4, 2022	Point Cloud Registration	—Unverified	0
3D Point Cloud Registration with Learning-based Matching Algorithm	Feb 4, 2022	Point Cloud Registration	CodeCode Available	0
DICP: Doppler Iterative Closest Point Algorithm	Jan 28, 2022	Point Cloud Registration	CodeCode Available	1
Leveraging Inlier Correspondences Proportion for Point Cloud Registration	Jan 28, 2022	DecoderPoint Cloud Registration	CodeCode Available	1
Self-Supervised Point Cloud Registration with Deep Versatile Descriptors	Jan 25, 2022	Computational EfficiencyPoint cloud reconstruction	—Unverified	0
Phase-SLAM: Phase Based Simultaneous Localization and Mapping for Mobile Structured Light Illumination Systems	Jan 22, 2022	3D Object Reconstruction3D Reconstruction	CodeCode Available	1
LiDAR Point--to--point Correspondences for Rigorous Registration of Kinematic Scanning in Dynamic Networks	Jan 3, 2022	Point Cloud Registration	—Unverified	0
Multiview point cloud registration with anisotropic and space-varying localization noise	Jan 3, 2022	Point Cloud Registration	—Unverified	0
Deterministic Point Cloud Registration via Novel Transformation Decomposition	Jan 1, 2022	Point Cloud Registration	—Unverified	0
RCP: Recurrent Closest Point for Point Cloud	Jan 1, 2022	Motion EstimationPoint Cloud Registration	CodeCode Available	0
SC2-PCR: A Second Order Spatial Compatibility for Efficient and Robust Point Cloud Registration	Jan 1, 2022	Image to Point Cloud RegistrationPoint Cloud Registration	—Unverified	0
COTReg:Coupled Optimal Transport based Point Cloud Registration	Dec 29, 2021	Point Cloud Registration	—Unverified	0
DetarNet: Decoupling Translation and Rotation by Siamese Network for Point Cloud Registration	Dec 28, 2021	Point Cloud RegistrationTranslation	CodeCode Available	1
Multi-View Partial (MVP) Point Cloud Challenge 2021 on Completion and Registration: Methods and Results	Dec 22, 2021	3D ReconstructionPoint Cloud Completion	CodeCode Available	1
GlobalMatch: Registration of Forest Terrestrial Point Clouds by Global Matching of Relative Stem Positions	Dec 21, 2021	Point Cloud Registration	CodeCode Available	1
DeepUME: Learning the Universal Manifold Embedding for Robust Point Cloud Registration	Dec 18, 2021	Point Cloud Registration	CodeCode Available	1
Full Transformer Framework for Robust Point Cloud Registration with Deep Information Interaction	Dec 17, 2021	Geometric MatchingPoint Cloud Registration	CodeCode Available	1
Robust Partial-to-Partial Point Cloud Registration in a Full Range	Nov 30, 2021	Graph MatchingPoint Cloud Registration	CodeCode Available	1
Multi-instance Point Cloud Registration by Efficient Correspondence Clustering	Nov 29, 2021	ClusteringPoint Cloud Registration	CodeCode Available	1
Multiway Non-rigid Point Cloud Registration via Learned Functional Map Synchronization	Nov 25, 2021	Point Cloud Registration	CodeCode Available	1
Lepard: Learning partial point cloud matching in rigid and deformable scenes	Nov 24, 2021	3D Feature Matching3D Point Cloud Matching	CodeCode Available	1
GenReg: Deep Generative Method for Fast Point Cloud Registration	Nov 23, 2021	Point Cloud Registration	—Unverified	0
What Stops Learning-based 3D Registration from Working in the Real World?	Nov 19, 2021	Point Cloud Registration	—Unverified	0
IMFNet: Interpretable Multimodal Fusion for Point Cloud Registration	Nov 18, 2021	Point Cloud Registration	CodeCode Available	1
DFC: Deep Feature Consistency for Robust Point Cloud Registration	Nov 15, 2021	Point Cloud RegistrationSemantic Segmentation	—Unverified	0
Practical, Fast and Robust Point Cloud Registration for 3D Scene Stitching and Object Localization	Nov 8, 2021	3D Feature MatchingBenchmarking	—Unverified	0
Accurate Point Cloud Registration with Robust Optimal Transport	Nov 1, 2021	Point Cloud RegistrationScene Flow Estimation	CodeCode Available	1
TriVoC: Efficient Voting-based Consensus Maximization for Robust Point Cloud Registration with Extreme Outlier Ratios	Nov 1, 2021	Point Cloud Registration	—Unverified	0
End-to-end Learning the Partial Permutation Matrix for Robust 3D Point Cloud Registration	Oct 28, 2021	Point Cloud Registration	—Unverified	0
CoFiNet: Reliable Coarse-to-fine Correspondences for Robust Point Cloud Registration	Oct 26, 2021	Keypoint DetectionPoint Cloud Registration	CodeCode Available	1
Cascading Feature Extraction for Fast Point Cloud Registration	Oct 23, 2021	Point Cloud Registration	CodeCode Available	1
Deep Models with Fusion Strategies for MVP Point Cloud Registration	Oct 18, 2021	Point Cloud Registration	CodeCode Available	1
DANIEL: A Fast and Robust Consensus Maximization Method for Point Cloud Registration with High Outlier Ratios	Oct 11, 2021	Point Cloud Registration	CodeCode Available	0
3D Unsupervised Region-Aware Registration Transformer	Oct 7, 2021	3D Shape ReconstructionPoint Cloud Registration	—Unverified	0
DeepBBS: Deep Best Buddies for Point Cloud Registration	Oct 6, 2021	Point Cloud Registration	CodeCode Available	0
PCAM: Product of Cross-Attention Matrices for Rigid Registration of Point Clouds	Oct 4, 2021	Point Cloud Registration	CodeCode Available	1
ASH: A Modern Framework for Parallel Spatial Hashing in 3D Perception	Oct 1, 2021	GPUPoint Cloud Registration	—Unverified	0
Riedones3D: a celtic coin dataset for registration and fine-grained clustering	Sep 30, 2021	ClusteringCultural Vocal Bursts Intensity Prediction	—Unverified	0
3D Meta-Registration: Meta-learning 3D Point Cloud Registration Functions	Sep 29, 2021	Meta-LearningPoint Cloud Registration	—Unverified	0
PRANet: Point Cloud Registration with an Artificial Agent	Sep 23, 2021	Point Cloud RegistrationPose Estimation	—Unverified	0

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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