1 An End-to-End Framework for Evaluating Surface Reconstruction

We present a benchmark for the evaluation and comparison of algorithms which reconstruct a surface from point cloud data. Although a substantial amount of effort has been dedicated to the problem of surface reconstruction, a comprehensive means of evaluating this class of algorithms is noticeably absent. We propose a simple pipeline for measuring surface reconstruction algorithms, consisting of three main phases: surface modeling, sampling, and evaluation.We employ implicit surfaces for modeling shapes which are expressive enough to contain details of varying size, in addition to preserving sharp features. From these implicit surfaces, we produce point clouds by synthetically generating range scans which resemble realistic scan data. We validate our synthetic sampling scheme by comparing against scan data produced via a commercial optical laser scanner, wherein we scan a 3D-printed version of the original implicit surface. Last, we perform evaluation by comparing the output reconstructed surface to a dense uniformly-distributed sampling of the implicit surface. We decompose our benchmark into two distinct sets of experiments. The first set of experiments measures reconstruction against point clouds of complex shapes sampled under a wide variety of conditions. Although these experiments are quite useful for the comparison of surface reconstruction algorithms, they lack a fine-grain analysis. Hence to complement this, the second set of experiments are designed to measure specific properties of surface reconstruction, both from a sampling and surface modeling viewpoint. Together, these experiments depict a detailed examination of the state of surface reconstruction algorithms. An End-to-End Framework for Evaluating Surface Reconstruction