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 176–200 of 447 papers

Title	Date	Tasks	Status
3D Registration for Self-Occluded Objects in Context	Nov 23, 2020	Instance SegmentationPoint Cloud Registration	—Unverified
Inlier Confidence Calibration for Point Cloud Registration	Jan 1, 2024	Point Cloud Registration	—Unverified
DFC: Deep Feature Consistency for Robust Point Cloud Registration	Nov 15, 2021	Point Cloud RegistrationSemantic Segmentation	—Unverified
CA-I2P: Channel-Adaptive Registration Network with Global Optimal Selection	Jun 26, 2025	global-optimizationImage to Point Cloud Registration	—Unverified
A Ground Segmentation Method Based on Point Cloud Map for Unstructured Roads	Sep 15, 2023	Point Cloud RegistrationSegmentation	—Unverified
In-Rack Test Tube Pose Estimation Using RGB-D Data	Aug 21, 2023	Point Cloud RegistrationPose Estimation	—Unverified
Deterministic Point Cloud Registration via Novel Transformation Decomposition	Jan 1, 2022	Point Cloud Registration	—Unverified
DeepVCP: An End-to-End Deep Neural Network for Point Cloud Registration	Oct 1, 2019	Point Cloud Registration	—Unverified
A General Mobile Manipulator Automation Framework for Flexible Manufacturing in Hostile Industrial Environments	Feb 9, 2023	MarketingPoint Cloud Registration	—Unverified
Deep Semantic Graph Matching for Large-scale Outdoor Point Clouds Registration	Aug 10, 2023	Graph MatchingPoint Cloud Registration	—Unverified
Bridge 2D-3D: Uncertainty-aware Hierarchical Registration Network with Domain Alignment	Apr 2, 2025	Image to Point Cloud RegistrationPoint Cloud Registration	—Unverified
DeepPRO: Deep Partial Point Cloud Registration of Objects	Jan 1, 2021	Point Cloud Registration	—Unverified
Deep-PE: A Learning-Based Pose Evaluator for Point Cloud Registration	May 25, 2024	Point Cloud Registration	—Unverified
Bootstrap Your Own Correspondences	Jun 1, 2021	Point Cloud RegistrationRepresentation Learning	—Unverified
A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration	Sep 13, 2017	C++ codePoint Cloud Registration	—Unverified
Inverse Composition Discriminative Optimization for Point Cloud Registration	Jun 1, 2018	Point Cloud Registration	—Unverified
BiEquiFormer: Bi-Equivariant Representations for Global Point Cloud Registration	Jul 11, 2024	Point Cloud Registration	—Unverified
Deep Loss Convexification for Learning Iterative Models	Nov 16, 2024	Point Cloud Registration	—Unverified
DIPR: Efficient Point Cloud Registration via Dynamic Iteration	Dec 5, 2023	GPUPoint Cloud Registration	—Unverified
Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search	Oct 24, 2017	6D Pose Estimation6D Pose Estimation using RGB	—Unverified
Deep Learning-based Point Cloud Registration for Augmented Reality-guided Surgery	May 6, 2024	Deep LearningPoint Cloud Registration	—Unverified
Deep-learning-based classification and retrieval of components of a process plant from segmented point clouds	Dec 13, 2019	General ClassificationObject Recognition	—Unverified
DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration	May 10, 2019	Point Cloud Registration	—Unverified
A Dynamical Perspective on Point Cloud Registration	May 7, 2020	Point Cloud Registration	—Unverified
Deep Hough Voting for Robust Global Registration	Sep 9, 2021	Point Cloud Registration	—Unverified

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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