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EURASIP Journal on Advances in Signal Processing

Table 1 The registration performance on partial overlapping clean point cloud

From: SHC: soft-hard correspondences framework for simplifying point cloud registration

Model

Clean

RMSE(R)

RMSE(t)

MAE(R)

MAE(t)

ICP

13.7952

0.0391

4.4489

0.0196

Go-ICP

14.7223

0.0328

3.5112

0.0127

DCP

9.3036

0.0936

6.3455

0.0615

IDAM

2.3384

0.0102

0.4711

0.0025

CEM

1.5018

0.0009

0.1385

0.0001

RIE

0.0062

0.0000

0.0018

< 0.0001

Our

< 0.0001

< 0.0001

< 0.0001

< 0.0001

  1. Bold indicates that it has the best performance
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