Based on our evaluation, the best global registration results we are aware of are obtained by our variant of Rusu et al., which achieves 59.2% recall and 19.6% precision on our benchmark dataset. This page shows how to set up and run our variant of Rusu et al.

##### Code

The code is hosted on github: https://github.com/qianyizh/ElasticReconstruction/tree/master/GlobalRegistration

##### Tutorial

To run the program, you do not need to compile the code. You can use our executable by following the steps below.

> GlobalRegistration.exe <pcd_directory>
gt = mrLoadLog( 'gt.log' );         % file from the evaluation package
[ recall, precision ] = mrEvaluateRegistration( result, gt, gt_info );