VisTa3D: A Dataset and Benchmark for Thin Object Reconstruction from Vision, Tactile, and 3D Point Clouds

Abstract

State-of-the-art 3D reconstruction models, whether from visual, range, or both, tend to underperform on thin objects. This is partially due to the small amount of space such objects occupy in RGB images and in 3D point clouds. To test the extent of their errors, we collected the first thin object dataset comprising of synchronized RGB images, depth maps, and tactile response maps, where each frame is associated with inertial measurements, camera pose and calibration, and groundtruth depth and segmentation maps obtained from laser scanning of thin objects. We hypothesize that tactile data can aid in the reconstruction of thin objects as their response maps provide local shape and deformation information. Our dataset, termed VisTa3D, comprises of 387 scenes covering 70 thin objects over 17 environments. We benchmarked current 3D reconstruction models on VisTa3D and found that, indeed, they exhibit low fidelity on thin objects. To test if tactile data can help, we introduce the first visual-range-tactile 3D reconstruction model as a baseline. Code and data: https://huggingface.co/datasets/shaniaguo/VisTa3D.