This table lists the benchmark results for the Scan2CAD Alignment scenario.


Method Infoavg (per CAD)avg (per class)bathtubbookshelfcabinetchairdisplayothersofatabletrashbin
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End2End SOCs0.4410.4200.4060.3860.3620.6810.2540.2700.6380.3800.402
Armen Avetisyan, Angela Dai, Matthias Niessner: End-to-End CAD Model Retrieval and 9DoF Alignment in 3D Scans.
Scan2CADpermissive0.2880.2890.2500.2810.3080.3970.2030.1430.5110.3150.196
Armen Avetisyan, Manuel Dahnert, Angela Dai, Manolis Savva, Angel X. Chang, Matthias Niessner: Scan2CAD: Learning CAD Model Alignment in RGB-D Scans. arXiv
3DMatch + RANSAC0.0920.0720.0000.0530.0380.1950.0170.0520.1700.0600.065
FPFH + Ransac0.0370.0200.0000.0000.0150.1070.0000.0120.0210.0290.000
Li et al 15 + RANSAC0.0460.0300.0000.0180.0230.1110.0000.0280.0640.0270.000
SHOT + RANSAC0.0280.0150.0000.0180.0000.0880.0000.0120.0000.0000.022