HM3D(Habitat-Matterport 3D)

Habitat-Matterport 3D (HM3D) 是来自不同现实世界位置的1,000建筑规模3D重建的大规模数据集。数据集中的每个场景都由内部的纹理3D网格重建组成，例如多楼层住宅，商店和其他私人室内空间。 HM3D在物理规模，重建的完整性和视觉保真度方面超过了可用于学术研究的现有数据集。HM3D包含112.5k m ^ 2的可导航空间，比其他建筑规模数据集 (如MP3D和Gibson) 大1.4-3.7倍。当与现有的真实感3D数据集 (例如Replica、MP3D、Gibson和ScanNet) 相比时，从HM3D渲染的图像具有20-85% 更高的视觉保真度w.r.t.使用真实相机和HM3D网格捕获的对应图像由于不完全的表面重建而具有较少的伪影34-91%。Habitat-Matterport 3D (HM3D) is a large-scale dataset consisting of 1,000 building-scale 3D reconstructions sourced from diverse real-world locations. Each scene in the dataset is composed of internally textured 3D mesh reconstructions, including multi-story residences, shops, and other private indoor spaces. HM3D outperforms existing datasets available for academic research in terms of physical scale, reconstruction completeness, and visual fidelity. HM3D encompasses 112.5 thousand square meters of navigable space, which is 1.4 to 3.7 times larger than other building-scale datasets such as MP3D and Gibson. When compared against existing photorealistic 3D datasets (e.g., Replica, MP3D, Gibson, and ScanNet), images rendered from HM3D achieve 20–85% higher visual fidelity relative to corresponding images captured with real cameras, while the HM3D meshes exhibit 34–91% fewer artifacts due to more complete surface reconstruction.

搜集汇总

背景与挑战

背景概述

HM3D(Habitat-Matterport 3D)是一个大规模建筑规模3D重建数据集，包含1,000个现实世界室内场景的纹理3D网格，如住宅和商店。该数据集在物理规模、重建完整性和视觉保真度方面显著优于现有学术数据集，提供112.5k m²的可导航空间，视觉保真度提升20-85%，伪影减少34-91%，适用于3D视觉和导航研究。