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EURASIP Journal on Advances in Signal Processing

Table 3 The registration performance on partial overlapping point cloud with Gaussian noise

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

Model

Noise

RMSE(R)

RMSE(t)

MAE(R)

MAE(t)

ICP

12.5413

0.0398

4.2826

0.0184

Go-ICP

14.5225

0.0329

3.4252

0.0114

DCP

9.9544

0.0906

7.3685

0.0635

IDAM

3.5701

0.0206

1.0642

0.0066

CEM

2.2722

0.0014

0.3799

0.0008

RIE

0.0244

0.0001

0.0103

< 0.0001

Our

< 0.0001

< 0.0001

< 0.0001

< 0.0001

  1. Bold indicates that it has the best performance
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