Table 2.

Registration Error on the KITTI Dataset.

	RTE (m)	RRE (${}^{\circ }$)	Success Rate	Avg #Iter
ISS + FPFH	0.325	1.08	58.59%	7462
ISS + SI	0.358	1.17	55.92%	9219
ISS + USC	0.262	0.83	78.24%	7873
ISS + CGF	0.233	0.69	87.81%	7442
ISS + 3DMatch	0.283	0.79	89.12%	7292
3DF kpt + 3DFeatNet desc	0.258	0.57	95.97%	3798
ISS + 3DFeatNet desc	0.246	0.627	93.50%	8311
3DF kpt + 3DFeatNet desc	0.264	0.599	95.58%	4394
ISS + our desc	0.215	0.510	93.50%	5960
ISS + our ISS desc	0.215	0.459	93.85%	4356
3DF kpt + our desc	0.258	0.570	95.44%	3732
3DF kpt + our 3DF kpt	0.244	0.501	95.87%	2631