Table 5 The registration performance of different parts of SHC
From: SHC: soft-hard correspondences framework for simplifying point cloud registration
Model | ICL-NUIM | |||
|---|---|---|---|---|
RMSE(R) | RMSE(t) | MAE(R) | MAE(t) | |
Base | 3.0375 | 0.1360 | 2.0708 | 0.0946 |
Base + coarse | 0.0721 | 0.0029 | 0.0564 | 0.0022 |
Base + coarse + fine | 0.0563 | 0.0021 | 0.0434 | 0.0016 |