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

EURASIP Journal on Advances in Signal Processing

Table 4 The registration performance on 7Scene and ICL-NUIM

Model	RMSE(R)	RMSE(t)	MAE(R)	MAE(t)
ICL-NUIM
ICP	10.1247	0.3006	2.1484	0.0693
Go-ICP	1.5515	0.0601	0.6333	0.0241
DCP	6.7184	0.1516	4.7844	0.1096
IDAM	9.4539	0.3040	4.4153	0.1385
CEM	0.0821	0.0002	0.0211	0.0001
RIE	0.0654	0.0026	0.0440	0.0019
Our	0.0563	0.0021	0.0434	0.0016
7Scene
ICP	19.9166	0.1127	7.5760	0.0310
Go-ICP	24.2743	0.0360	7.1068	0.0137
DCP	10.3565	0.0538	7.5818	0.0401
IDAM	10.5306	0.0539	5.6727	0.0303
CEM	0.1768	0.0012	0.0434	0.0002
RIE	0.0144	< 0.0001	0.0063	< 0.0001
Our	< 0.0001	< 0.0001	< 0.0001	< 0.0001