method 0.0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.2 FPFH 0.0 0.32518435 3.0640497 7.408897 12.879427 17.654156 21.894594 24.814766 28.676664 32.31617 35.307827 38.895893 41.363243 44.120644 47.001804 49.11531 52.33542 55.02593 56.853123 59.70479 61.781036 SpinImages 0.0 0.2650882 1.4736623 3.4342945 5.703008 8.022694 9.878324 12.34205 15.342176 18.735947 21.89705 24.729364 28.054333 31.125975 33.943203 36.965153 40.642887 43.33119 46.57485 49.260128 52.152588 SHOT 0.0 0.47008017 2.6745644 5.1028447 7.4799767 9.238545 11.927085 16.089037 18.879076 22.094217 24.974531 27.351418 29.76674 32.573856 34.916573 37.086315 40.306644 43.138355 45.73636 48.786892 50.972153 3DMatch 0.0 0.34988788 1.735477 6.3130245 13.2243185 20.68582 28.49041 34.01513 40.062992 45.687683 52.00012 55.463696 59.081406 61.986275 65.45967 68.43626 70.95725 73.55156 76.07139 77.85846 80.27285 CGF 0.0 0.024703559 2.1318865 6.50821 13.123867 20.129152 28.38341 32.935925 38.11737 44.04901 47.796814 52.474613 56.87633 59.58374 62.497223 65.93624 68.82815 71.535965 74.28786 75.93417 77.80694 PPFNet 0.0 0.0 0.060096156 0.86937517 3.1743605 8.557394 19.648903 32.87094 44.737736 54.218216 62.422962 68.653786 74.78312 79.51771 82.49317 84.438225 86.81797 89.20367 90.20915 91.9664 92.85675 PPF-FoldNet 0.0 0.6783977 7.9283724 22.183943 34.720436 44.628433 51.92579 57.17631 61.85746 66.01428 69.106926 71.37115 73.30209 74.196884 75.28364 76.539635 77.94661 79.70165 80.93724 81.7935 82.764626 Ours 0.0 0.4708969187453404 21.502159936042897 50.05412810643319 70.68030594316472 81.07975133647629 87.4676806078735 91.11393845764234 93.41293607558425 94.42439530203379 95.5016728687582 96.0080013333998 96.71576097308037 97.12192918131171 97.2141445151143 97.87661267544205 98.02974089028855 98.32543524018643 98.36824345936452 98.85109394221501 99.07352775839882