| Point cloud Algorithm | GA-IMP | PFH | FPFH | 3DSC | |
| Horse | Time/s | 24.674 | 42.583 | 18.434 | 112.32 |
| RMSE/mm | 3.826 × 10−8 | 2.412 × 10−7 | 8.642 × 10−7 | 3.463 × 10−10 | |
| Dragon | Time/s | 25.412 | 65.587 | 47.642 | 246.324 |
| RMSE/mm | 0.896 | 0.833 | 2.839 | 0.643 | |
| Happy Buddha | Time/s | 24.698 | 47.661 | 22.146 | 204.358 |
| RMSE/mm | 2.763 × 10−5 | 1.552 × 10−6 | 4.557 × 10−5 | 2.281 × 10−5 | |
| Cochlea | Time/s | 24.361 | 25.823 | 18.802 | 73.879 |
| RMSE/mm | 5.327 × 10−8 | 1.832 × 10−2 | 2.964 × 10−2 | 3.944 × 10−9 | |
| Bun000Bun045 | Time/s | 23.676 | 31.538 | 16.197 | 59.436 |
| RMSE/mm | 3.658 × 10−8 | 6.357 × 10−7 | 2.647 × 10−6 | 9.658 × 10−9 | |