method 0.01 0.02 0.03 0.04 0.05 0.060000000000000005 0.06999999999999999 0.08 0.09 0.09999999999999999 0.11 0.12 0.13 0.14 0.15000000000000002 0.16 0.17 0.18000000000000002 0.19 0.2 0.21000000000000002
FPFH 84.33316 68.71096 54.144688 43.4266 35.885315 29.24774 24.669365 21.693983 18.398415 15.19658 13.052581 10.593815 9.197111 7.121167 6.0142927 5.459413 4.7025414 3.7748396 3.2582376 2.9224794 2.7575514
SpinImages 80.370415 57.09011 41.317715 30.377916 22.666761 16.668486 12.008004 9.49888 6.9450083 5.2102103 4.6000204 3.9652426 3.6801224 2.8298047 2.4588833 1.6771933 1.4722013 1.3379945 1.1484778 0.9681894 0.8833897
SHOT 74.7338 55.754692 41.421146 31.38755 23.82493 18.377901 14.077372 11.229745 9.498036 7.2400875 6.259093 5.4715004 4.264607 3.6964087 3.070859 2.418819 2.0778346 1.5370839 1.5123804 1.4522841 1.2673242
3DMatch 93.57423 84.989296 72.26616 60.18662 50.84514 40.988052 35.264496 29.492676 24.875406 20.927317 18.053923 14.7144 12.210866 10.735968 9.550746 8.107913 7.4702764 6.172435 5.2574573 4.3098807 3.7686903
CGF 93.651184 81.15855 68.73972 56.782322 47.758163 39.41682 34.020992 28.672413 23.078693 19.149256 16.00261 13.47433 11.930753 9.2401 6.4093018 5.2058983 4.630285 3.859022 3.5339522 2.9732845 2.6834931
PPFNet 95.92501 89.856384 81.85167 70.101074 62.30703 53.38279 46.71212 38.00567 31.49468 25.324678 20.358257 17.48238 13.581946 10.503738 7.8975635 6.4955277 5.223775 4.1398544 3.4175255 3.1279635 2.5851185
PPF-FoldNet 90.44259 83.66921 77.68714 72.016045 68.04171 62.860317 58.093655 54.45246 50.859642 47.77691 45.581078 42.854107 39.8563 36.73241 33.889057 32.212887 30.558687 28.446907 27.44521 25.17946 23.433472
Ours 99.52991980845242 98.84371726893317 97.46276148034085 96.77077123423552 95.5016728687582 93.87989671321939 92.9612544809232 91.80873139043958 89.55258094103811 88.15087025481105 86.45012108855058 83.95821858043234 82.71260616076292 80.49154883453722 78.89347421469562 76.53057772636661 74.26297769943262 71.7272846810864 69.05880287956903 67.35529094542803 65.39114150434874