arXiv:2604.22482cs.CVcs.GR2026-04被引 3

首个连续全景3D重建数据集,解决球面畸变与轨迹断点问题。

Holo360D: A Large-Scale Real-World Dataset with Continuous Trajectories for Advancing Panoramic 3D Reconstruction and Beyond

论文配图:Holo360D: A Large-Scale Real-World Dataset with Continuous Trajectories for Advancing Panoramic 3D Reconstruction and Beyond
图 1 · 摘自论文原文
  • 用激光扫描+全景相机采集连续轨迹数据
  • 含109,495张全景图与高精度点云网格
  • 适合做全景3D重建、多视角建模的研究者

尽管前馈式3D重建模型发展迅速,但在全景图像上仍因球面畸变导致性能下降。现有全景3D数据集多为固定位置采集的离散轨迹,严重制约了多视角全景前馈重建的发展。本文提出Holo360D,一个包含109,495张全景图及其配准点云、网格和对齐相机位姿的大规模数据集。据我们所知,Holo360D是首个提供连续全景序列并具有高完整性深度图对齐的数据集。原始数据通过3D激光扫描仪与360相机联合采集,随后结合在线与离线SLAM系统进行处理。为进一步提升3D数据质量,提出专用于360数据的后处理流程,包括几何去噪、网格补洞与区域自适应重网格化。最后,基于Holo360D微调3D重建模型,建立新基准,揭示有效微调策略。结果表明,该数据集能提供更优训练信号,推动全景3D重建发展。数据与代码将公开。

原文摘要 · Abstract (English)

While feed-forward 3D reconstruction models have advanced rapidly, they still exhibit degraded performance on panoramas due to spherical distortions. Moreover, existing panoramic 3D datasets are predominantly collected with 360 cameras fixed at discrete locations, resulting in discontinuous trajectories. These limitations critically hinder the development of panoramic feed-forward 3D reconstruction, especially for the multi-view setting. In this paper, we present Holo360D, a comprehensive dataset containing 109,495 panoramas paired with registered point clouds, meshes, and aligned camera poses. To our knowledge, Holo360D is the first large-scale dataset that provides continuous panoramic sequences with accurately aligned high-completeness depth maps. The raw data are initially collected using a 3D laser scanner coupled with a 360 camera. Subsequently, the raw data are processed with both online and offline SLAM systems. Furthermore, to enhance the 3D data quality, a post-processing pipeline tailored for the 360 dataset is proposed, including geometry denoising, mesh hole filling, and region-specific remeshing. Finally, we establish a new benchmark by fine-tuning 3D reconstruction models on Holo360D, providing key insights into effective fine-tuning strategies. Our results demonstrate that Holo360D delivers superior training signals and provides a comprehensive benchmark for advancing panoramic 3D reconstruction models. Datasets and Code will be made publicly available.

全景3D数据集重建连续轨迹

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