R3PM-Net: Real-time, Robust, Real-world Point Matching Network

AI4RWC@CVPRW 2026 - Oral Presentation

Paper | Project Page | Dataset

Figure 1. Overview of the R3PM-Net Architecture. R3PM-Net employs a global-aware feature extraction module with shared weights to learn geometric similarities across a full receptive field.

Introduction

R3PM-Net is a lightweight, global-aware, object-level point matching network designed to bridge the gap between approaches trained and evaluated on clean, dense, synthetic and real-world industrial point cloud data by prioritizing both generalizability and real-time efficiency.

Figure 2. Examples of R3PM-Net performance on the Sioux-Cranfield dataset.

Datasets

We propose two datasets; Sioux-Cranfield and Sioux-Scans, to address the gap between synthetic datasets and real-world industrial data.

Sioux-Cranfield

Sioux-Scans

Figure 3. CAD models of the Sioux-Cranfield dataset (Left). The first six belong to the Cranfield Assembly benchmark and the rest are contributions of this paper (Sioux dataset). Sioux-Scans point cloud data (Right). Target (blue) and Source (yellow) point clouds for seven distinct objects.

Environment Setup

# 1. Create environment
conda env create -f environment.yml
conda activate r3pm_net

# Optionally, install the dependencies and run manually:
pip install -e .

To run the evaluations, please refer to each method's repo to set up the environment: Predator, GeoTransformer, LoGDesc, and RegTR.

Everything must be installed into the same conda enviromnet.

Data Preparation

ModelNet40

Download the dataset from ModelNet40 and extract it to:

data/ModelNet40

To save time, download the downsampled ModelNet40 test set from ModelNet40_Downsampled and put it in:

data/down_sampled_modelnet40

Sioux-Cranfield

Download the dataset from Sioux_Cranfiled and put it in:

data/sioux_cranfield

Sioux-Scans

Download the dataset from Sioux_Scans and put it in:

data/sioux_scans

Fine-tune

Download the pickle files (.pkl) from here and put them in:

data/simulators

These pickle files are created from a subset of the Sioux-Cranfield containing the "teeth", "cube", "lime" and "lego" CAD models. There are 320 point cloud pairs, with 80-20 train-test split.

Optionally, to create your own datasets, use the scripts in dataloader, refering to the README file in that directory.

Pre-trained Models

Please download the pretrained model of each method from their repo (links provided above) and follow their instructions as to where to put them.

We use RPMNet's pre-trained model (clean-trained) for our Zero-shot version. Download it from here and put it in:

checkpoints/

Note: You need to fine-tune the model yourself (see bleow) to get the fine-tuned weights which then you can put in the same directory.

Folder Structure

r3pm_net/
├── assets/                     
├── config/
│   ├── default.yaml            # Training defaults
│   └── eval.yaml               # Paths for evaluation scripts
├── checkpoints/                # Pre-trained models' weights     
├── data/                       
│   ├── down_sampled_modelnet40/
│   ├── ModelNet40/
│   ├── sioux_cranfield/
│   └── sioux_scans/
├── dataloader/                 # Dataset dict generation & loaders
├── logs/                       # Experiment logs
├── r3pm_net/                   # Core package (model, feature extractor, config)
├── scripts/                    # SLURM/Bash and evaluation scripts
│   ├── eval_modelnet40.py
│   ├── eval_sioux_cranfield.py
│   ├── eval_sioux_scans.py
│   ├── modelnet40.sh
│   ├── sioux_cranfield.sh
│   └── sioux_scans.sh
├── src/
│   └── train.py                # Training 
├── thirdparty/learning3d/      # learning3d (RPMNet, losses, ops, …)
├── tools/                      # Registration eval, metrics, visualization
├── environment.yml 
├── pyproject.toml
└── README.md

Train

To train the model using data/simulators or your own dataset run:

python src/train.py

Evaluation

Scripts are provided in scripts/ to reproduce results.

ModelNet40

bash scripts/modelnet40.sh

Sioux-Cranfield

bash scripts/sioux_cranfield.sh

Sioux-Scans This evaluates the proposed hybrid Coarse-to-Fine Registration approach.

bash scripts/sioux_scans.sh

Manual Execution

For example for evaluation on Sioux-Cranfield, run:

python scripts/eval_sioux_cranfield.py

Results

IMPORTANT NOTE: Unfortunately, we cannot release the feature-extraction model and the fine-tuned weights. Therefore, to re-poduce these results you need to implement the feature extractor (based on the paper) and fine-tune it with the provided data.

ModelNet40

Method	RRE [°] ↓	RTE [cm] ↓	CD [cm] ↓	Fitness ↑	In. RMSE [cm] ↓	Time [s] ↓
RPMNet	30.898	0.002	0.153	0.998	0.094	0.021
Predator	7.262	0.028	0.045	1.000	0.026	0.071
GeoTransformer	50.357	0.215	0.255	0.921	0.101	0.065
RegTR	1.712	0.007	0.017	1.000	0.009	0.045
LoGDesc	42.762	0.158	0.183	0.978	0.097	0.075
R3PM-Net (ours)	5.198	0.010	0.052	1.000	0.029	0.007

Notes: Best results are in bold; Second-best results are underlined.

Sioux-Cranfield

Method	RRE [°] ↓	RTE [cm] ↓	CD [cm] ↓	Fitness ↑	In. RMSE [cm] ↓	Time [s] ↓
RPMNet	32.217	0.002	0.160	0.997	0.098	0.021
Predator	16.448	0.044	0.072	1.000	0.042	0.071
GeoTrans.	45.582	0.183	0.297	0.906	0.111	0.065
RegTR	1.311	0.004	0.023	1.000	0.012	0.045
LoGDesc	121.224	0.773	0.692	0.718	0.224	0.075
R3PM-Net (ours)	5.451	0.006	0.054	1.000	0.030	0.006

Sioux-Scans

Figure 4. Qualitative registration results of R3PM-Net on real-world event-camera data. It successfully aligns the "teeth" and "cube" models. The fine-tuned version also solves the "lime" and "house".

Acknowledgement

We adapted some codes from some awesome repositories including Learning3D and RPMNet. Thanks for making the codes publicly available.

Citation

If you find this repository useful, please consider citing:

@misc{kashefbahrami2026r3pmnetrealtimerobustrealworld,
      title={R3PM-Net: Real-time, Robust, Real-world Point Matching Network}, 
      author={Yasaman Kashefbahrami and Erkut Akdag and Panagiotis Meletis and Evgeniya Balmashnova and Dip Goswami and Egor Bondarau},
      year={2026},
      eprint={2604.05060},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2604.05060}, 
}