arXiv:2604.00682cs.CV2026-04中稿 · ACM MMSys 2026被引 1

首个融合几何与光照监督的月面感知基准,支持3D重建与抗光照干扰感知。

MoonAnything: A Vision Benchmark with Large-Scale Lunar Supervised Data

  • 基于物理渲染生成真实月面地形数据,提供立体图像与稠密深度图。
  • 包含超13万样本,覆盖多光照条件与空间变化的反射率模型。
  • 适用于月球及其他无大气天体的视觉算法测试,适合计算机视觉研究者。

精确感知月面对于现代探月任务至关重要,但学习型感知系统的发展受限于缺乏同时具备几何与光度监督的数据集。现有月面数据集通常缺少几何真值、光度真实感、光照多样性或大范围覆盖。本文提出MoonAnything,一个基于真实月面地形的统一基准,采用物理基础渲染技术,首次在多样光照下提供全面的几何与光度监督。该基准包含两个互补子数据集:i) LunarGeo提供带有稠密深度图和相机标定信息的立体图像,支持3D重建与位姿估计;ii) LunarPhoto通过空间变化的BRDF模型生成逼真图像,并在真实太阳光照配置下生成多光照渲染结果,支持反射率估计与光照鲁棒感知。两者合计超过13万样本,具备全面监督。除月球应用外,MoonAnything为低纹理、高对比度环境下的算法提供了独特挑战场景,适用于其他无大气天体,具备可扩展性。我们使用前沿方法建立基线,并发布完整数据集及生成工具,以支持社区拓展:https://github.com/clementinegrethen/MoonAnything。

原文摘要 · Abstract (English)

Accurate perception of lunar surfaces is critical for modern lunar exploration missions. However, developing robust learning-based perception systems is hindered by the lack of datasets that provide both geometric and photometric supervision. Existing lunar datasets typically lack either geometric ground truth, photometric realism, illumination diversity, or large-scale coverage. In this paper, we introduce MoonAnything, a unified benchmark built on real lunar topography with physically-based rendering, providing the first comprehensive geometric and photometric supervision under diverse illumination with large scale. The benchmark comprises two complementary sub-datasets : i) LunarGeo provides stereo images with corresponding dense depth maps and camera calibration enabling 3D reconstruction and pose estimation; ii) LunarPhoto provides photorealistic images using a spatially-varying BRDF model, along with multi-illumination renderings under real solar configurations, enabling reflectance estimation and illumination-robust perception. Together, these datasets offer over 130K samples with comprehensive supervision. Beyond lunar applications, MoonAnything offers a unique setting and challenging testbed for algorithms under low-textured, high-contrast conditions and applies to other airless celestial bodies and could generalize beyond. We establish baselines using state-of-the-art methods and release the complete dataset along with generation tools to support community extension: https://github.com/clementinegrethen/MoonAnything.

月面感知三维重建光照鲁棒物理渲染

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