The 3DMATCH benchmark evaluates how well descriptors (both 2D and 3D) can establish correspondences between RGB-D frames of different views. The dataset contains 2D RGB-D patches and 3D patches (local TDF voxel grid volumes) of wide-baselined correspondences.
The pixel size of each 2D patch is determined by the projection of the 0.3m3 local 3D patch around the interest point onto the image plane.
Source: 3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions