A Survey and Benchmark of Automatic Surface Reconstruction from Point Clouds

Abstract

We present a comprehensive survey and benchmark of both traditional and learning-based methods for surface reconstruction from point clouds. This task is particularly challenging for real-world acquisitions due to factors such as noise, outliers, non-uniform sampling, and missing data. Traditional approaches often simplify the problem by imposing handcrafted priors on either the input point clouds or the resulting surface, a process that can require tedious hyperparameter tuning. In contrast, deep learning models have the capability to directly learn the properties of input point clouds and desired surfaces from data. We study the influence of handcrafted and learned priors on the precision and robustness of surface reconstruction techniques. We evaluate various time-tested and contemporary methods in a standardized manner. When both trained and evaluated on point clouds with identical characteristics, the learning-based models consistently produce higher-quality surfaces compared to their traditional counterparts -- even in scenarios involving novel shape categories. However, traditional methods demonstrate greater resilience to the diverse anomalies commonly found in real-world 3D acquisitions. For the benefit of the research community, we make our code and datasets available, inviting further enhancements to learning-based surface reconstruction. This can be accessed at https://github.com/raphaelsulzer/dsr-benchmark .