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@@ -7,171 +7,3 @@ This work compares different neural network-based algorithms for point clouds re
 The results of the registration problems can be found in the ```results``` folder, divided by algorithm used. In each leaf folder, a file with the ```_config.json``` suffix can be found, stating the parameters used for the registration.
 
 The full instructions to reproduce the experiments can be found in the [wiki](https://github.com/iralabdisco/neural_registration_comparison/wiki) of this repository.
-
-## Results
-These are the results of different approaches. Feature extractors have been used in conjunction with RANSAC, FastGlobal, and TEASER. Results are reported as the median, 0.75 quantile, and 0.95 quantile of the residual error (as defined in the [Point Clouds Registraion Benchmark](https://github.com/iralabdisco/point_clouds_registration_benchmark).
-
-### 3DFeatNet features
-|                                | RANSAC |        |        | FastGlobal |        |        | TEASER |        |        |
-|----------------------------------|--------|-------:|-------:|------------|-------:|-------:|--------|-------:|-------:|
-|                                | Median | 0.75 Q | 0.95 Q |     Median | 0.75 Q | 0.95 Q | Median | 0.75 Q | 0.95 Q |
-|** Sequence**   |        |        |        |            |        |        |        |        |        |
-|**plain**   |   8.40 |  12.24 |  18.73 |       4.99 |   6.17 |   7.61 |   9.57 |  13.26 |  22.57 |
-|**stairs**   |   2.17 |   3.09 |   7.07 |       2.31 |   3.36 |   5.26 |   2.30 |   3.78 |   7.39 |
-|**apartment**   |   1.92 |   2.78 |   4.81 |       2.03 |   2.53 |   3.73 |   2.22 |   3.27 |   5.10 |
-|**hauptgebaude**   |   2.72 |   6.47 |   9.28 |       2.79 |   4.91 |   6.31 |   2.44 |   5.57 |   8.72 |
-|**wood\_autumn**  |   3.20 |   4.42 |   5.92 |       2.53 |   3.62 |   5.10 |   2.87 |   4.10 |   5.95 |
-|**wood\_summer**  |   2.79 |   3.73 |   5.34 |       2.21 |   3.52 |   4.17 |   2.49 |   3.83 |   5.06 |
-|**gazebo\_summer**  |   3.51 |   4.81 |   8.41 |       2.33 |   3.30 |   4.17 |   3.13 |   4.98 |   7.15 |
-|**gazebo\_winter**  |   3.72 |   5.47 |   9.10 |       2.15 |   3.34 |   4.51 |   3.14 |   4.92 |   8.09 |
-|**box\_met**  |  10.14 |  12.76 |  19.82 |       8.30 |  10.53 |  13.98 |  13.01 |  28.65 |  81.78 |
-|**p2at\_met**  |  10.43 |  17.48 |  32.84 |       6.27 |  10.27 |  15.89 |  10.22 |  18.40 |  89.83 |
-|**planetary\_map**  |  41.00 |  60.25 | 100.93 |      27.08 |  42.20 |  61.59 |  40.76 |  62.61 | 103.20 |
-|**pioneer\_slam**  |  10.25 |  17.67 |  35.64 |       6.74 |   8.91 |  10.64 |  13.87 |  27.94 |  43.60 |
-|**pioneer\_slam3**  |   4.73 |   9.13 |  13.84 |       5.86 |   7.98 |   9.47 |   7.47 |  12.44 |  21.51 |
-|**long\_office\_household** |  14.93 |  27.53 |  41.75 |       4.13 |   7.77 |  11.24 |   9.68 |  28.31 |  72.94 |
-|**urban05**   |   2.27 |   3.54 |   6.79 |       1.33 |   2.03 |   3.47 |   2.17 |   3.71 |   7.09 |
-|**Total**   |   4.21 |   9.96 |  37.31 |       3.53 |   6.53 |  21.15 |   4.17 |  10.55 |  50.44 |
-
-
-###  FCGF features using the model trained on 3dMatch
-
-|                                  | RANSAC |        |        | FastGlobal |        |        | TEASER |        |        |
-|----------------------------------|--------|-------:|-------:|------------|-------:|-------:|--------|-------:|-------:|
-|                                 | Median | 0.75 Q | 0.95 Q |     Median | 0.75 Q | 0.95 Q | Median | 0.75 Q | 0.95 Q |
-|**Sequence**   |        |        |        |            |        |        |        |        |        |
-|**plain**   |   7.05 |   8.90 |  13.55 |       7.22 |   9.19 |  13.95 |   7.22 |   9.34 |  13.82 |
-|**stairs**   |   5.77 |   7.45 |   9.15 |       5.85 |   7.43 |   9.28 |   5.85 |   7.50 |   9.28 |
-|**apartment**   |   5.93 |   7.38 |  10.94 |       6.15 |   7.62 |  10.33 |   6.15 |   7.63 |  10.33 |
-|**hauptgebaude**   |   2.53 |   3.08 |   3.71 |       2.59 |   3.22 |   3.78 |   2.62 |   3.18 |   3.78 |
-|**wood\_autumn**  |   3.19 |   4.21 |   5.64 |       3.92 |   5.12 |   5.79 |   3.84 |   5.12 |   5.79 |
-|**wood\_summer**  |   2.96 |   3.73 |   4.98 |       2.60 |   3.44 |   4.55 |   2.54 |   3.51 |   4.63 |
-|**gazebo\_summer**  |   2.84 |   4.07 |   5.06 |       3.11 |   4.35 |   5.20 |   3.14 |   4.36 |   5.44 |
-|**gazebo\_winter**  |   3.50 |   4.79 |   5.85 |       3.60 |   4.77 |   5.85 |   3.61 |   4.78 |   5.68 |
-|**box\_met**  |   7.61 |  10.84 |  13.79 |       8.40 |  12.07 |  17.89 |   8.92 |  11.43 |  17.93 |
-|**p2at\_met**  |   9.82 |  12.75 |  17.48 |       8.43 |  13.13 |  21.25 |   8.69 |  12.97 |  19.59 |
-|**planetary\_map**  |  11.33 |  15.52 |  21.16 |      31.09 |  46.49 |  67.82 |  31.92 |  47.25 |  67.94 |
-|**pioneer\_slam**  |  11.74 |  18.76 |  30.26 |      11.77 |  18.76 |  30.29 |  11.77 |  18.76 |  30.30 |
-|**pioneer\_slam3**  |   7.07 |  12.86 |  16.62 |       7.07 |  12.86 |  16.64 |   7.06 |  12.85 |  16.63 |
-|**long\_office\_household** |   9.21 |  20.70 |  41.05 |       9.41 |  20.66 |  41.05 |   9.68 |  20.65 |  41.05 |
-|**urban05**   |   2.51 |   3.76 |   5.30 |       1.41 |   1.93 |   3.16 |   2.27 |   3.68 |  11.04 |
-|**Total**   |   4.85 |   8.73 |  18.11 |       4.92 |   9.53 |  30.27 |   5.08 |   9.71 |  30.35 |
-
-###  FCGF features using the model trained on Kitti
-
-|                                  | RANSAC |        |        | FastGlobal |        |        | TEASER |        |        |
-|----------------------------------|--------|-------:|-------:|------------|-------:|-------:|--------|-------:|-------:|
-|                                 | Median | 0.75 Q | 0.95 Q |     Median | 0.75 Q | 0.95 Q | Median | 0.75 Q | 0.95 Q |
-|**Sequence**   |        |        |        |            |        |        |        |        |        |
-|**plain**   |   7.05 |   8.90 |  13.55 |       7.22 |   9.19 |  13.95 |   7.22 |   9.34 |  13.82 |
-|**stairs**   |   5.77 |   7.45 |   9.15 |       5.85 |   7.43 |   9.28 |   5.85 |   7.50 |   9.28 |
-|**apartment**   |   5.93 |   7.38 |  10.94 |       6.15 |   7.62 |  10.33 |   6.15 |   7.63 |  10.33 |
-|**hauptgebaude**   |   2.53 |   3.08 |   3.71 |       2.59 |   3.22 |   3.78 |   2.62 |   3.18 |   3.78 |
-|**wood\_autumn**  |   3.19 |   4.21 |   5.64 |       3.92 |   5.12 |   5.79 |   3.84 |   5.12 |   5.79 |
-|**wood\_summer**  |   2.96 |   3.73 |   4.98 |       2.60 |   3.44 |   4.55 |   2.54 |   3.51 |   4.63 |
-|**gazebo\_summer**  |   2.84 |   4.07 |   5.06 |       3.11 |   4.35 |   5.20 |   3.14 |   4.36 |   5.44 |
-|**gazebo\_winter**  |   3.50 |   4.79 |   5.85 |       3.60 |   4.77 |   5.85 |   3.61 |   4.78 |   5.68 |
-|**box\_met**  |   7.61 |  10.84 |  13.79 |       8.40 |  12.07 |  17.89 |   8.92 |  11.43 |  17.93 |
-|**p2at\_met**  |   9.82 |  12.75 |  17.48 |       8.43 |  13.13 |  21.25 |   8.69 |  12.97 |  19.59 |
-|**planetary\_map**  |  11.33 |  15.52 |  21.16 |      31.09 |  46.49 |  67.82 |  31.92 |  47.25 |  67.94 |
-|**pioneer\_slam**  |  11.74 |  18.76 |  30.26 |      11.77 |  18.76 |  30.29 |  11.77 |  18.76 |  30.30 |
-|**pioneer\_slam3**  |   7.07 |  12.86 |  16.62 |       7.07 |  12.86 |  16.64 |   7.06 |  12.85 |  16.63 |
-|**long\_office\_household** |   9.21 |  20.70 |  41.05 |       9.41 |  20.66 |  41.05 |   9.68 |  20.65 |  41.05 |
-|**urban05**   |   2.51 |   3.76 |   5.30 |       1.41 |   1.93 |   3.16 |   2.27 |   3.68 |  11.04 |
-|**Total**   |   4.85 |   8.73 |  18.11 |       4.92 |   9.53 |  30.27 |   5.08 |   9.71 |  30.35 |
-
-### FPFH
-
-|                                 | RANSAC |        |        | FastGlobal |        |        | TEASER |        |        |
-|----------------------------------|--------|-------:|-------:|------------|-------:|-------:|--------|-------:|-------:|
-|                                 | Median | 0.75 Q | 0.95 Q |     Median | 0.75 Q | 0.95 Q | Median | 0.75 Q | 0.95 Q |
-|**Sequence**   |        |        |        |            |        |        |        |        |        |
-|**plain**   |   0.41 |   3.74 |   6.87 |       0.49 |   1.11 |   1.89 |   0.12 |   0.31 |   1.83 |
-|**stairs**   |   0.21 |   2.37 |   4.45 |       0.28 |   1.95 |   3.89 |   0.08 |   0.58 |   3.57 |
-|**apartment**   |   0.21 |   1.33 |   3.57 |       0.21 |   1.15 |   2.67 |   0.13 |   1.46 |   3.47 |
-|**hauptgebaude**   |   0.19 |   1.61 |   3.34 |       0.36 |   1.05 |   1.86 |   0.02 |   0.97 |   2.04 |
-|**wood\_autumn**  |   2.90 |   3.75 |   5.43 |       0.32 |   0.51 |   0.89 |   0.05 |   0.08 |   0.24 |
-|**wood\_summer**  |   2.39 |   3.69 |   5.23 |       0.30 |   0.47 |   1.11 |   0.04 |   0.07 |   0.17 |
-|**gazebo\_summer**  |   1.90 |   2.77 |   4.38 |       0.20 |   0.43 |   1.21 |   0.04 |   0.06 |   0.27 |
-|**gazebo\_winter**  |   1.52 |   2.97 |   5.60 |       0.18 |   0.37 |   1.25 |   0.04 |   0.08 |   0.40 |
-|**box\_met**  |   7.44 |  10.46 |  13.23 |       7.16 |   9.87 |  14.12 |   0.31 |   7.62 |  12.10 |
-|**p2at\_met**  |   8.04 |  12.35 |  17.48 |       1.90 |   6.01 |  10.05 |   0.16 |   0.66 |   9.92 |
-|**planetary\_map**  |  10.80 |  15.11 |  20.78 |      29.82 |  43.52 |  69.25 |  46.45 |  62.77 |  95.28 |
-|**pioneer\_slam**  |   0.36 |   1.57 |  12.30 |       3.24 |   7.46 |  10.79 |   0.46 |   1.92 |   7.24 |
-|**pioneer\_slam3**  |   0.13 |   0.19 |   0.43 |       0.13 |   0.23 |   0.64 |   0.14 |   0.21 |   0.90 |
-|**long\_office\_household** |   0.48 |   1.69 |  18.07 |       1.47 |   6.91 |  12.22 |   0.66 |   1.67 |  15.04 |
-|**urban05**   |   2.93 |   3.89 |   5.53 |       1.53 |   2.13 |   3.44 |   2.77 |   4.07 |   6.40 |
-|**Total**   |   1.82 |   4.48 |  13.12 |       0.48 |   2.44 |  19.90 |   0.15 |   1.56 |  33.49 |
-
-
-### 3DSmoothNet
-
-|                                 | RANSAC |        |        | FastGlobal |        |        | TEASER |        |        |
-|----------------------------------|--------|-------:|-------:|------------|-------:|-------:|--------|-------:|-------:|
-|                                 | Median | 0.75 Q | 0.95 Q |     Median | 0.75 Q | 0.95 Q | Median | 0.75 Q | 0.95 Q |
-|**Sequence**   |        |        |        |            |        |        |        |        |        |
-|**plain**   |   0.04 |   0.09 |  10.33 |       1.40 |   2.22 |   3.18 |   0.03 |   1.30 |   2.83 |
-|**stairs**   |   0.01 |   0.03 |   5.16 |       1.08 |   2.55 |   4.95 |   0.01 |   0.03 |   4.54 |
-|**apartment**   |   0.01 |   0.01 |   0.06 |       0.59 |   1.67 |   3.63 |   0.01 |   0.02 |   0.04 |
-|**hauptgebaude**   |   0.79 |   0.85 |   2.35 |       0.76 |   1.34 |   2.00 |   0.80 |   1.58 |   2.37 |
-|**wood\_autumn**  |   0.02 |   0.02 |   0.05 |       0.65 |   1.46 |   1.82 |   0.01 |   0.02 |   0.02 |
-|**wood\_summer**  |   0.01 |   0.02 |   0.03 |       0.47 |   0.95 |   1.66 |   0.01 |   0.01 |   0.02 |
-|**gazebo\_summer**  |   0.01 |   0.02 |   0.08 |       0.57 |   1.47 |   3.94 |   0.01 |   0.01 |   0.02 |
-|**gazebo\_winter**  |   0.01 |   0.01 |   0.03 |       0.39 |   0.78 |   2.26 |   0.01 |   0.01 |   0.02 |
-|**box\_met**  |   7.44 |  10.75 |  13.79 |       8.69 |  10.49 |  13.89 |   7.05 |   9.90 |  13.24 |
-|**p2at\_met**  |   4.93 |  10.61 |  15.92 |       6.37 |   8.00 |  11.89 |   0.16 |   6.54 |  11.84 |
-|**planetary\_map**  |  11.08 |  15.22 |  20.95 |      29.89 |  41.09 |  66.74 |  41.08 |  64.64 | 101.85 |
-|**pioneer\_slam**  |   0.07 |   0.10 |   0.72 |       0.08 |   0.16 |   0.80 |   0.03 |   0.07 |   0.12 |
-|**pioneer\_slam3**  |   0.03 |   0.05 |   0.09 |       0.26 |   0.66 |   3.14 |   0.01 |   0.02 |   0.03 |
-|**long\_office\_household** |   0.08 |   0.14 |   0.27 |       0.06 |   0.13 |   0.35 |   0.04 |   0.08 |   0.20 |
-|**urban05**   |   2.51 |   3.62 |   5.29 |       1.66 |   2.07 |   3.10 |   1.32 |   1.93 |   3.37 |
-|**Total**   |   0.04 |   1.83 |  12.28 |       0.89 |   2.60 |  18.92 |   0.02 |   0.80 |  27.31 |
-
-
-### FMR using the model trained on 7scenes
-
-|                                 | RANSAC |        |        | FastGlobal |        |        | TEASER |        |        |
-|----------------------------------|--------|-------:|-------:|------------|-------:|-------:|--------|-------:|-------:|
-|                                 | Median | 0.75 Q | 0.95 Q |     Median | 0.75 Q | 0.95 Q | Median | 0.75 Q | 0.95 Q |
-|**Sequence**   |        |        |        |            |        |        |        |        |        |
-|**plain**   |   0.04 |   0.09 |  10.33 |       1.40 |   2.22 |   3.18 |   0.03 |   1.30 |   2.83 |
-|**stairs**   |   0.01 |   0.03 |   5.16 |       1.08 |   2.55 |   4.95 |   0.01 |   0.03 |   4.54 |
-|**apartment**   |   0.01 |   0.01 |   0.06 |       0.59 |   1.67 |   3.63 |   0.01 |   0.02 |   0.04 |
-|**hauptgebaude**   |   0.79 |   0.85 |   2.35 |       0.76 |   1.34 |   2.00 |   0.80 |   1.58 |   2.37 |
-|**wood\_autumn**  |   0.02 |   0.02 |   0.05 |       0.65 |   1.46 |   1.82 |   0.01 |   0.02 |   0.02 |
-|**wood\_summer**  |   0.01 |   0.02 |   0.03 |       0.47 |   0.95 |   1.66 |   0.01 |   0.01 |   0.02 |
-|**gazebo\_summer**  |   0.01 |   0.02 |   0.08 |       0.57 |   1.47 |   3.94 |   0.01 |   0.01 |   0.02 |
-|**gazebo\_winter**  |   0.01 |   0.01 |   0.03 |       0.39 |   0.78 |   2.26 |   0.01 |   0.01 |   0.02 |
-|**box\_met**  |   7.44 |  10.75 |  13.79 |       8.69 |  10.49 |  13.89 |   7.05 |   9.90 |  13.24 |
-|**p2at\_met**  |   4.93 |  10.61 |  15.92 |       6.37 |   8.00 |  11.89 |   0.16 |   6.54 |  11.84 |
-|**planetary\_map**  |  11.08 |  15.22 |  20.95 |      29.89 |  41.09 |  66.74 |  41.08 |  64.64 | 101.85 |
-|**pioneer\_slam**  |   0.07 |   0.10 |   0.72 |       0.08 |   0.16 |   0.80 |   0.03 |   0.07 |   0.12 |
-|**pioneer\_slam3**  |   0.03 |   0.05 |   0.09 |       0.26 |   0.66 |   3.14 |   0.01 |   0.02 |   0.03 |
-|**long\_office\_household** |   0.08 |   0.14 |   0.27 |       0.06 |   0.13 |   0.35 |   0.04 |   0.08 |   0.20 |
-|**urban05**   |   2.51 |   3.62 |   5.29 |       1.66 |   2.07 |   3.10 |   1.32 |   1.93 |   3.37 |
-|**Total**   |   0.04 |   1.83 |  12.28 |       0.89 |   2.60 |  18.92 |   0.02 |   0.80 |  27.31 |
-
-
-### FMR using the model trained on Modelnet40
-
-|                                 | RANSAC |        |        | FastGlobal |        |        | TEASER |        |        |
-|----------------------------------|--------|-------:|-------:|------------|-------:|-------:|--------|-------:|-------:|
-|                                 | Median | 0.75 Q | 0.95 Q |     Median | 0.75 Q | 0.95 Q | Median | 0.75 Q | 0.95 Q |
-|**Sequence**   |        |        |        |            |        |        |        |        |        |
-|**plain**   |   0.04 |   0.09 |  10.33 |       1.40 |   2.22 |   3.18 |   0.03 |   1.30 |   2.83 |
-|**stairs**   |   0.01 |   0.03 |   5.16 |       1.08 |   2.55 |   4.95 |   0.01 |   0.03 |   4.54 |
-|**apartment**   |   0.01 |   0.01 |   0.06 |       0.59 |   1.67 |   3.63 |   0.01 |   0.02 |   0.04 |
-|**hauptgebaude**   |   0.79 |   0.85 |   2.35 |       0.76 |   1.34 |   2.00 |   0.80 |   1.58 |   2.37 |
-|**wood\_autumn**  |   0.02 |   0.02 |   0.05 |       0.65 |   1.46 |   1.82 |   0.01 |   0.02 |   0.02 |
-|**wood\_summer**  |   0.01 |   0.02 |   0.03 |       0.47 |   0.95 |   1.66 |   0.01 |   0.01 |   0.02 |
-|**gazebo\_summer**  |   0.01 |   0.02 |   0.08 |       0.57 |   1.47 |   3.94 |   0.01 |   0.01 |   0.02 |
-|**gazebo\_winter**  |   0.01 |   0.01 |   0.03 |       0.39 |   0.78 |   2.26 |   0.01 |   0.01 |   0.02 |
-|**box\_met**  |   7.44 |  10.75 |  13.79 |       8.69 |  10.49 |  13.89 |   7.05 |   9.90 |  13.24 |
-|**p2at\_met**  |   4.93 |  10.61 |  15.92 |       6.37 |   8.00 |  11.89 |   0.16 |   6.54 |  11.84 |
-|**planetary\_map**  |  11.08 |  15.22 |  20.95 |      29.89 |  41.09 |  66.74 |  41.08 |  64.64 | 101.85 |
-|**pioneer\_slam**  |   0.07 |   0.10 |   0.72 |       0.08 |   0.16 |   0.80 |   0.03 |   0.07 |   0.12 |
-|**pioneer\_slam3**  |   0.03 |   0.05 |   0.09 |       0.26 |   0.66 |   3.14 |   0.01 |   0.02 |   0.03 |
-|**long\_office\_household** |   0.08 |   0.14 |   0.27 |       0.06 |   0.13 |   0.35 |   0.04 |   0.08 |   0.20 |
-|**urban05**   |   2.51 |   3.62 |   5.29 |       1.66 |   2.07 |   3.10 |   1.32 |   1.93 |   3.37 |
-|**Total**   |   0.04 |   1.83 |  12.28 |       0.89 |   2.60 |  18.92 |   0.02 |   0.80 |  27.31 |
-