Empir3D : A Framework for Multi-Dimensional Point Cloud Assessment

Abstract

Advancements in sensors, algorithms, and compute hardware have made 3D perception feasible in real time. Current methods to compare and evaluate the quality of a 3D model, such as Chamfer, Hausdorff, and Earth-Mover's distance, are uni-dimensional and have limitations, including an inability to capture coverage, local variations in density and error, and sensitivity to outliers. In this paper, we propose an evaluation framework for point clouds (Empir3D) that consists of four metrics: resolution to quantify the ability to distinguish between individual parts in the point cloud, accuracy to measure registration error, coverage to evaluate the portion of missing data, and artifact score to characterize the presence of artifacts. Through detailed analysis, we demonstrate the complementary nature of each of these dimensions and the improvements they provide compared to the aforementioned uni-dimensional measures. Furthermore, we illustrate the utility of Empir3D by comparing our metrics with uni-dimensional metrics for two 3D perception applications (SLAM and point cloud completion). We believe that Empir3D advances our ability to reason about point clouds and helps better debug 3D perception applications by providing a richer evaluation of their performance. Our implementation of Empir3D, custom real-world datasets, evaluations on learning methods, and detailed documentation on how to integrate the pipeline will be made available upon publication.