Papers › Deep Global Registration
Deep Global Registration
Christopher Choy, Wei Dong, Vladlen Koltun
We present Deep Global Registration, a differentiable framework for pairwise registration of real-world 3D scans. Deep global registration is based on three modules: a 6-dimensional convolutional network for correspondence confidence prediction, a differentiable Weighted Procrustes algorithm for closed-form pose estimation, and a robust gradient-based SE(3) optimizer for pose refinement. Experiments demonstrate that our approach outperforms state-of-the-art methods, both learning-based and classical, on real-world data.
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Code
Syntology Ran 5 of 9 code samples harvested from 1 repository linked to this paper; 4 have no recorded run. Of those that ran: 1 ran · violated contract; 1 ran · our draft was wrong; 3 ran with no contract checked.
By repository: community (archive-listed): 9 samples from 1 repository, 5 ran. The run record, sample by sample. “Ran” means executed on a synthesized input, not that the code is correct or reproduces the paper.
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Code Syntology ran Syntology
9 samples harvested; 5 ran; 0 honoured the contract we drafted; 4 have no recorded run. Read from Syntology's graph 2026-09-24; that is when this build read the record, not when the samples ran.
Licence: 0 of the 9 samples are pointer only, meaning Syntology does not serve that copy's text. This page shows no code text for any sample; each one links to its file in the repository.
Harvested from chrischoy/FCGF. “Ran” means the sample executed on a synthesized input. It does not mean the output is correct, and nothing here reproduces the paper's results. “Honoured” and “violated” refer to a contract Syntology drafted from the code itself; “our draft was wrong” and “fixture could not drive it” are failures of Syntology's instrument, not of the code.
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| Point Cloud Registration | 3DLoMatch (10-30% overlap) | DGR (reported in REGTR) | Recall ( correspondence RMSE below 0.2) | 48.7 | #8 of 13 | Archive leaderboard | report |
| Point Cloud Registration | 3DMatch (at least 30% overlapped - FCGF setting) | DGR (RE (all), TE(all) are reported in PCAM) | RE (all) | 9.5 | #4 of 14 | Archive leaderboard | report |
| Point Cloud Registration | 3DMatch (at least 30% overlapped - FCGF setting) | DGR (RE (all), TE(all) are reported in PCAM) | Recall (0.3m, 15 degrees) | 91.3 | #4 of 14 | Archive leaderboard | report |
| Point Cloud Registration | 3DMatch (at least 30% overlapped - FCGF setting) | DGR (RE (all), TE(all) are reported in PCAM) | TE (all) | 0.25 | #4 of 14 | Archive leaderboard | report |
| Point Cloud Registration | 3DMatch (at least 30% overlapped - sample 5k interest points) | DGR (reported in REGTR) | Recall ( correspondence RMSE below 0.2) | 85.3 | #6 of 11 | Archive leaderboard | report |
| Point Cloud Registration | KITTI (FCGF setting) | DGR + ICP (RE (all), TE(all) are reported in PCAM) | RE (all) | 1.43 | #2 of 11 | Archive leaderboard | report |
| Point Cloud Registration | KITTI (FCGF setting) | DGR + ICP (RE (all), TE(all) are reported in PCAM) | Recall (0.6m, 5 degrees) | 98.2 | #2 of 11 | Archive leaderboard | report |
| Point Cloud Registration | KITTI (FCGF setting) | DGR + ICP (RE (all), TE(all) are reported in PCAM) | TE (all) | 0.16 | #2 of 11 | Archive leaderboard | report |
| Point Cloud Registration | KITTI (FCGF setting) | DGR (RE (all), TE(all) are reported in PCAM) | RE (all) | 1.62 | #7 of 11 | Archive leaderboard | report |
| Point Cloud Registration | KITTI (FCGF setting) | DGR (RE (all), TE(all) are reported in PCAM) | Recall (0.6m, 5 degrees) | 96.9 | #7 of 11 | Archive leaderboard | report |
| Point Cloud Registration | KITTI (FCGF setting) | DGR (RE (all), TE(all) are reported in PCAM) | TE (all) | 0.34 | #7 of 11 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Methods
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