ActMVS: Active Scene Reconstruction with Monocular Multi-View Stereo
Active scene reconstruction enables robots/UAVs to autonomously plan trajectories and reconstruct environments without costly manual data acquisition. Unlike passive methods, active reconstruction requires real-time construction of high-confidence occupancy maps for collision-free navigation. Existing approaches rely on depth sensors for occupancy map updates, increasing platform cost and weight. To advance spatial intelligence, we aim for a vision-only monocular solution. However, current monocular scene reconstruction methods operate offline and fail to deliver globally consistent dense depth at the frame rates required for robots/UAVs navigation. To bridge this gap, we introduce ActMVS...
| Authors | Guo Pu, Yixuan Han, Zhouhui Lian |
|---|---|
| Primary category | cs.RO |
| Published | 31 May 2026 |
| Last updated at source | 31 May 2026 |
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