Table 1.

Registration error on the Oxford dataset.

	RTE (m)	RRE (${}^{\circ }$)	Success Rate	Avg #Iter
ISS + FPFH	0.396	1.60	92.32%	7171
ISS + SI	0.415	1.61	87.45%	9888
ISS + USC	0.324	1.22	94.02%	7084
ISS + CGF	0.431	1.62	87.36%	9628
ISS + 3DMatch	0.494	1.78	69.06%	9131
ISS + PN++	0.511	1.88	48.86%	9904
ISS + 3DFeatNet desc	0.314	1.08	97.66%	7127
3DFeatNet kpt + 3DFeatNet desc	0.300	1.07	98.10%	2940
ISS + 3DFeatNet desc	0.314	1.08	97.66%	7126
ISS + our desc	0.311	1.01	98.10%	5648
ISS + our ISS desc	0.311	1.00	98.23%	5545
3DF kpt + 3DFeatNet desc	0.304	1.08	97.66%	3294
3DF kpt + our desc	0.310	1.08	97.05%	3650
3DF kpt + our 3DF desc	0.298	1.02	97.90%	2703