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

TL;DR

Holo360D is a large-scale, continuous panoramic dataset with high-quality 3D reconstructions, designed to improve feed-forward panoramic 3D reconstruction models and benchmarks.

Contribution

The paper introduces Holo360D, the first large-scale dataset with continuous panoramic sequences and aligned high-quality depth maps, along with a tailored post-processing pipeline and benchmark.

Findings

Holo360D provides over 109,000 panoramas with aligned point clouds and meshes.

Fine-tuning models on Holo360D improves 3D reconstruction performance.

The dataset and code will be publicly available for research.

Abstract

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.