A Partial-to-Partial Point Cloud Registration Method Based on Geometric Attention Network

Table 2

Ablation of the network architecture.

SSA	OGA			ModelNet			ModelLoNet
	GSA	CA	GSA	RRE	RTE	CD	RRE	RTE	CD
				1.910	0.0219	0.000983	5.405	0.128	0.00681
√				1.794	0.0205	0.000922	4.853	0.126	0.00671
√	√			1.636	0.0167	0.000854	4.797	0.119	0.00599
√	√	√		1.580	0.0159	0.000807	4.697	0.120	0.00611
√	√		√	1.673	0.0175	0.000853	4.608	0.123	0.00645
√	√	√	√	1.487	0.0148	0.000793	4.339	0.114	0.00589

Note. The best performance is highlighted in bold, while the next-best performance is underlined.