Fig. 2From: SHC: soft-hard correspondences framework for simplifying point cloud registrationThe figure presented illustrates the performance of the trained model on the ICL-NUIM dataset throughout the training process. The horizontal axis depicts the number of epochs, while the vertical axis represents the root mean square error (RMSE) of rotation. The dotted line corresponds to the performance of the base model, which utilizes the soft correspondence mode concatenated with an SVD solver. The solid line represents the performance of the SHC frameworkBack to article page