Comparing metrics for evaluating 3D map quality in natural environments

Stéphanie Aravecchia, Marianne Clausel, Cédric Pradalier

Abstract: Highlights•Addressing 3D-map quality assessment challenges in unstructured natural environments.•Comparative analysis of 3D-reconstruction metrics to assess local 3D-grid map quality.•Evaluating metric robustness to different type of errors in the map.•Qualitative comparison in real-world experiment validates the evaluation in simulation.•Providing practical recommendations for metric selection.