We have developed an automated framework for performance evaluation of curved-surface range image segmentation algorithms. Enhancements over our previous work include automated training of parameter values, correcting the artifact problem in K ? T scanner images, and acquisition of images of the same scenes from different range scanners. The image dataset includes planar, spherical, cylindrical, conical, and toroidal surfaces. We have evaluated the automated parameter tuning technique and found that it compares favorably with manual parameter tuning. We present initial results from comparing curved-surface segmenters by Besl and Jain and by Jiang and Bunke.