# ModelNet40-E: An Uncertainty-Aware Benchmark for Point Cloud Classification

arXiv: https://arxiv.org/abs/2508.01269 · HTML: https://mlsanity.com/paper/2508.01269/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 27 of its 42 references that are in the map.
- First posted on arXiv 2 Aug 2025.

## Builds on (most cited first, 27 of 27)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [On Calibration of Modern Neural Networks](https://mlsanity.com/paper/1706.04599/) (2017)
- [Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning](https://mlsanity.com/paper/1506.02142/) (2015)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Simple and Scalable Predictive Uncertainty Estimation using Deep Ensembles](https://mlsanity.com/paper/1612.01474/) (2016)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [Point Transformer V3: Simpler, Faster, Stronger](https://mlsanity.com/paper/2312.10035/) (2023)
- [Measuring Calibration in Deep Learning](https://mlsanity.com/paper/1904.01685/) (2019)
- [Point Transformer V2: Grouped Vector Attention and Partition-based Pooling](https://mlsanity.com/paper/2210.05666/) (2022)
- [Rethinking Network Design and Local Geometry in Point Cloud: A Simple Residual MLP Framework](https://mlsanity.com/paper/2202.07123/) (2022)
- [6-DOF GraspNet: Variational Grasp Generation for Object Manipulation](https://mlsanity.com/paper/1905.10520/) (2019)
- [SqueezeSegV2: Improved Model Structure and Unsupervised Domain Adaptation for Road-Object Segmentation from a LiDAR Point Cloud](https://mlsanity.com/paper/1809.08495/) (2018)
- [Walk in the Cloud: Learning Curves for Point Clouds Shape Analysis](https://mlsanity.com/paper/2105.01288/) (2021)
- [Semantic3D.net: A new Large-scale Point Cloud Classification Benchmark](https://mlsanity.com/paper/1704.03847/) (2017)
- [Generating 3D Adversarial Point Clouds](https://mlsanity.com/paper/1809.07016/) (2018)
- [PointCloud Saliency Maps](https://mlsanity.com/paper/1812.01687/) (2018)
- [DoubleFusion: Real-time Capture of Human Performances with Inner Body Shapes from a Single Depth Sensor](https://mlsanity.com/paper/1804.06023/) (2018)
- [Extending Adversarial Attacks and Defenses to Deep 3D Point Cloud Classifiers](https://mlsanity.com/paper/1901.03006/) (2019)
- [Benchmarking Robustness of 3D Point Cloud Recognition Against Common Corruptions](https://mlsanity.com/paper/2201.12296/) (2022)
- [Point2Vec for Self-Supervised Representation Learning on Point Clouds](https://mlsanity.com/paper/2303.16570/) (2023)
- [Synthetic-to-Real Domain Generalized Semantic Segmentation for 3D Indoor Point Clouds](https://mlsanity.com/paper/2212.04668/) (2022)
- [DG-MVP: 3D Domain Generalization via Multiple Views of Point Clouds for Classification](https://mlsanity.com/paper/2504.12456/) (2025)

## Abstract (arXiv)

We introduce ModelNet40-E, a new benchmark designed to assess the robustness and calibration of point cloud classification models under synthetic LiDAR-like noise. Unlike existing benchmarks, ModelNet40-E provides both noise-corrupted point clouds and point-wise uncertainty annotations via Gaussian noise parameters (σ, μ), enabling fine-grained evaluation of uncertainty modeling. We evaluate three popular models-PointNet, DGCNN, and Point Transformer v3-across multiple noise levels using classification accuracy, calibration metrics, and uncertainty-awareness. While all models degrade under increasing noise, Point Transformer v3 demonstrates superior calibration, with predicted uncertainties more closely aligned with the underlying measurement uncertainty.