FPv1 (prior name FAUST-partial) is a 3D registration benchmark dataset created to address the lack of data variability in the existing 3D registration benchmarks such as: 3DMatch, ETH, KITTI.

The original FAUST training dataset is comprised of 100 3D scans of human bodies.

The benchmark generation for a single scan from the FAUST training dataset can be summarized as follows:

1. Make xz-plane the floor by translating the minimal bounding box point of the scan to the origin
2. Surround the scan with a regular icosahaedron. Each point of the icosahaedron acts as a viewpoint
3. For each viewpoint, create a partial point cloud using the hidden point removal algorithm

Finally, for a pair of partial point clouds with the desired overalp, generate a random rotation from the desired rotation range and translation range.