MultiChange3D: A Multi-Scene, Multi-Sensor Dataset for Benchmarking 3D Geometric Change Detection

Abstract. 3D change detection is essential for monitoring infrastructure, environmental dynamics, and natural hazards. However, existing algorithms are often evaluated on single-scene datasets, and their generalization across varied real-world scenes remains largely unexplored due to the absence of a universal benchmark. To address this issue, we propose MultiChange3D, a multi-scene, multisensor 3D change detection dataset for identifying geometric changes in 3D space. The dataset provides registered pairs of point clouds with ground-truth geometric change labels, enabling standardized evaluation across different methods. To demonstrate the use of the MultiChange3D dataset, we benchmark an initial set of approaches on a subset of the dataset. The evaluated methods include classical Euclidean distance-based methods (C2C, M3C2), 3D displacement estimation-based approaches (F2S3, Landslide-3D), and deep learning-based classification methods (KPConv, EF-KPConv, PGN3DCD). Quantitative and qualitative analyses indicate the strengths and limitations of the evaluated methods, highlighting the challenges in cross-scene generalization under variations in point density, scale, and types of changes. The full dataset and evaluation code is openly available at: https://github.com/3DOM-FBK/multichange3d.