Three-dimensional (3D) sensor performance evaluation

A testing apparatus comprising:

• a depth sensor disposed in a position at an end of the testing apparatus;
• and
• a plurality of targets, wherein:
• each target is located at a different distance away from the depth sensor;
• at least one portion of each of the plurality of targets is visible within a field-of-view (FOV) of the depth sensor;
• and
• an entirety of the FOV of the depth sensor is occluded by one or more portions of each of the plurality of targets;
• wherein:
• the plurality of targets comprise a first target and a set of second targets;
• the distance between the first target and the depth sensor is a largest distance among the different distances;
• each of the set of second targets includes a cutout portion;
• and
• the first target is visible within the FOV of the depth sensor through each cutout portion.

A method comprising:

• obtaining, by one or more computer processors coupled to memory, and via a depth sensor in a testing apparatus, range information of a scene within a field-of-view (FOV) of the depth sensor, the scene comprising a plurality of targets disposed within the testing apparatus, wherein each of the plurality of targets is located at a different distance from the depth sensor in the testing apparatus, wherein an entirety of the FOV of the depth sensor is filled with one or more portions from each of the plurality of targets;
• performing, at a same point in time, a validation of a performance of the depth sensor at the different distances, based on the range information;
• and
• providing an indication of a result of the validation.