Benchmarking stereo reconstruction for 3D printable Martian terrain models

• URL: http://arxiv.org/abs/2606.10364v1
• Date: Tue, 09 Jun 2026 03:24:01 GMT
• Title: Benchmarking stereo reconstruction for 3D printable Martian terrain models
• Abstract summary: Reconstructing printable 3D models from Mars rover imagery is challenging because Martian terrain is low-texture, irregular, and partially observed.<n>We evaluate a pipeline that estimates stereo depth from NASA Curiosity images, completes geometry, and exports watertight OBJ meshes.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Reconstructing printable 3D models from Mars rover imagery is challenging because Martian terrain is low-texture, irregular, and partially observed. We evaluate a pipeline that estimates stereo depth from NASA Curiosity images, completes geometry, and exports watertight OBJ meshes. On Middlebury, RAFT-Stereo outperforms semi-global block matching (SGBM), reducing disparity MAE from 3.22px to 0.73px and increasing valid prediction coverage from 76.3% to 100.0%. On Curiosity imagery, however, RAFT's denser disparities show weaker edge alignment and higher photometric reprojection error, suggesting that benchmark accuracy does not directly transfer to Martian terrain reconstruction. Geometry completion demonstrates a tradeoff between local fidelity and global connectivity. We find that alpha shapes preserve accurate but fragmented structure, Poisson reconstruction produces more coherent meshes but adds unsupported surfaces, and a deterministic diffusion-fill baseline is intermediate but sensitive to stereo quality. Overall, standard stereo and completion methods can produce printable approximations of Martian terrain, but reliable reconstruction requires stronger domain-specific validation.

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