Strength
What it is useful for
- Requires no exact point correspondences and suits generated or completed shapes.
- Penalizes both missing and extraneous regions.
Shape reconstruction / auxiliary metric · shape
Chamfer Distance
Bidirectional Chamfer Distance
Uses bidirectional nearest-point matching between predicted and ground-truth shape point clouds to measure reconstruction similarity.
Primarily evaluates NOCS, shape completion, or category-level shape reconstruction rather than 6DoF pose alone; read it alongside pose metrics.
Principle
What error does this metric penalize?
The formulas define the computation. The diagrams show whether the error concerns a 3D model, visible surfaces, the image plane, or aggregation across thresholds.
Compute nearest-neighbor distances from prediction to ground truth and from ground truth to prediction, ensuring both sides are covered.
Can reveal missing regions or local displacements, but does not guarantee pointwise topological correspondence.
How to compute
Computation steps
- 01
Place both shapes in the same NOCS or world coordinate frame, and sample according to the protocol.
- 02
Compute nearest-neighbor distances in both directions.
- 03
Sum or average to obtain CD.
Caveat
Cautions when reading results
- Low CD does not guarantee correct pose; report shape and pose separately.
- Highly sensitive to point density, outliers, and units.
Paper atlas
Which papers report this metric?
Links are derived by normalizing the metric names used in each paper. Directly reported metrics are distinguished from metrics associated through a broader protocol.
24Related papers
24Directly reported
0Linked through a protocol
2026 Directly reported
Active Tactile Exploration for Rigid Body Pose and Shape Estimation
ICRA · Ethan K. Gordon, Bruke Baraki, Hien Bui et al.
Original terminology: Chamfer Distance / bidirectional Chamfer distance in mm
2026 Directly reported
CanoVerse: 3D Object Scalable Canonicalization and Dataset for Generation and Pose
ECCV · Li Jin, Yuchen Yang, Weikai Chen et al.
Original terminology: Chamfer Distance
2026 Directly reported
CAOA: Completion-Assisted Object-CAD Alignment
3DV · Hiranya Garbha Kumar, Minhas Kamal, Balakrishnan Prabhakaran
Original terminology: Chamfer Distance
2026 Directly reported
Follow My Hold: Hand-Object Interaction Reconstruction through Geometric Guidance
3DV · Ayce Idil Aytekin, Helge Rhodin, Rishabh Dabral et al.
Original terminology: Chamfer Distance
2026 Directly reported
GaussianArt: Unified Modeling of Geometry and Motion for Articulated Objects
3DV · Licheng Shen, Saining Zhang, Honghan Li et al.
Original terminology: Chamfer Distance
2026 Directly reported
Reconstructing Hand-Held Objects in 3D from Images and Videos
3DV · Jane Wu, Georgios Pavlakos, Georgia Gkioxari et al.
Original terminology: Chamfer Distance
2026 Directly reported
HIPPo: Harnessing Image-to-3D Priors for Model-Free Zero-Shot 6D Pose Estimation
ICRA / IEEE RA-L · Yibo Liu, Zhaodong Jiang, Binbin Xu et al.
Original terminology: Chamfer Distance / Chamfer distance
2026 Directly reported
iTACO: Interactable Digital Twins of Articulated Objects from Casually Captured RGBD Videos
3DV · Weikun Peng, Jun Lv, Cewu Lu et al.
Original terminology: Chamfer Distance
2026 Directly reported
Deep Learning-Based Object Pose Estimation: A Comprehensive Survey
IJCV · Jian Liu, Wei Sun, Hui Yang et al.
Original terminology: Chamfer Distance
2026 Directly reported
Point2Pose: Occlusion-Recovering 6D Pose Tracking and 3D Reconstruction for Multiple Unknown Objects Via 2D Point Trackers
ECCV · Tzu-Yuan Lin, Ho Jae Lee, Kevin Doherty et al.
Original terminology: Chamfer Distance
2025 Directly reported
Betsu-Betsu: Multi-View Separable 3D Reconstruction of Two Interacting Objects
3DV · Suhas Gopal, Rishabh Dabral, Vladislav Golyanik et al.
Original terminology: Chamfer Distance
2025 Directly reported
CRISP: Object Pose and Shape Estimation with Test-Time Adaptation
CVPR · Jingnan Shi, Rajat Talak, Harry Zhang et al.
Original terminology: Chamfer distance
2025 Directly reported
iFusion: Inverting Diffusion for Pose-Free Reconstruction from Sparse Views
3DV · Chin-Hsuan Wu, Yen-Chun Chen, Bolivar Solarte et al.
Original terminology: Chamfer Distance
2025 Directly reported
InterTrack: Tracking Human Object Interaction without Object Templates
3DV · Xianghui Xie, Jan Eric Lenssen, Gerard Pons-Moll
Original terminology: Chamfer Distance
2025 Directly reported
OmniShape: Zero-Shot Multi-Hypothesis Shape and Pose Estimation in the Real World
ICRA · Katherine Liu, Sergey Zakharov, Dian Chen et al.
Original terminology: Chamfer Distance
2025 Directly reported
Category-Level 6D Object Pose Estimation in Agricultural Settings Using a Lattice-Deformation Framework and Diffusion-Augmented Synthetic Data
IROS · Marios Glytsos, Panagiotis P. Filntisis, George Retsinas et al.
Original terminology: Chamfer distance
2025 Directly reported
SDFit: 3D Object Pose and Shape by Fitting a Morphable SDF to a Single Image
ICCV · Dimitrije Antić, Georgios Paschalidis, Shashank Tripathi et al.
Original terminology: 3D Chamfer distance
2025 Directly reported
SMORE: Simultaneous Map and Object REconstruction
3DV · Nathaniel Chodosh, Anish Madan, Simon Lucey et al.
Original terminology: Chamfer Distance
2024 Directly reported
Category-level Object Detection, Pose Estimation and Reconstruction from Stereo Images
ECCV · Chuanrui Zhang, Yonggen Ling, Minglei Lu et al.
Original terminology: Chamfer distance
2024 Directly reported
Neural Implicit Representation for Building Digital Twins of Unknown Articulated Objects
CVPR · Yijia Weng, Bowen Wen, Jonathan Tremblay et al.
Original terminology: Chamfer Distance / Chamfer Distance for static / moving / whole shape
2024 Directly reported
HOC-Search: Efficient CAD Model and Pose Retrieval from RGB-D Scans
3DV · Stefan Ainetter, Sinisa Stekovic, Friedrich Fraundorfer et al.
Original terminology: Chamfer Distance
2024 Directly reported
L4D-Track: Language-to-4D Modeling Towards 6-DoF Tracking and Shape Reconstruction in 3D Point Cloud Stream
CVPR · Jingtao Sun, Yaonan Wang, Mingtao Feng et al.
Original terminology: Chamfer Distance
2024 Directly reported
Living Scenes: Multi-object Relocalization and Reconstruction in Changing 3D Environments
CVPR · Liyuan Zhu, Shengyu Huang, Konrad Schindler et al.
Original terminology: Chamfer distance
2024 Directly reported
NeuSurfEmb: A Complete Pipeline for Dense Correspondence-Based 6D Object Pose Estimation without CAD Models
IROS · Francesco Milano, Jen Jen Chung, Hermann Blum et al.
Original terminology: forward Chamfer distance
Next
Compare related metrics
Compare metrics at the same level to understand why one score improves while another stays unchanged.
3D IoU
3D Bounding-box Intersection over Union
error
Compares the overlap of predicted and ground-truth 3D bounding boxes, reflecting position, rotation, and size together.
ADD
Average Distance of Model Points
error
Compares each CAD point under predicted and ground-truth poses, averaging the 3D distances.
ADD-S
Average Closest Point Distance
error
Relaxes point identity: each ground-truth point is matched to the nearest point in the predicted model.