Development of Multi-Agent-Based Indoor 3D Reconstruction

作     者：Hoi Chuen Cheng Frederick Ziyang Hong Babar Hussain Yiru Wang Chik Patrick Yue 

作者机构：Optical Wireless LabDepartment of Electronic and Computer EngineeringThe Hong Kong University of Science and TechnologyHong KongChina 

出 版 物：《Computers, Materials & Continua》 (计算机、材料和连续体（英文）)

年 卷 期：2024年第81卷第10期

页      面：161-181页

核心收录：

学科分类：081203[工学-计算机应用技术] 08[工学] 0835[工学-软件工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by Bright Dream Robotics and the HKUSTBDR Joint Research Institute Funding Scheme under Project HBJRI-FTP-005(Automated 3D Reconstruction using Robot-mounted 360-Degree Camera with Visible Light Positioning Technology for Building Information Modelling Applications OKT22EG06) 

主　　题：Multi-agent system multi-robot human collaboration visible light communication visible light positioning 3D reconstruction reinforcement learning multi-agent path finding 

摘      要：Large-scale indoor 3D reconstruction with multiple robots faces challenges in core enabling *** work contributes to a framework addressing localization,coordination,and vision processing for multi-agent reconstruction.A system architecture fusing visible light positioning,multi-agent path finding via reinforcement learning,and 360°camera techniques for 3D reconstruction is *** visible light positioning algorithm leverages existing lighting for centimeter-level localization without additional ***,a decentralized reinforcement learning approach is developed to solve the multi-agent path finding problem,with communications among agents *** 3D reconstruction pipeline utilizes equirectangular projection from 360°cameras to facilitate depth-independent reconstruction from posed monocular images using neural *** validation demonstrates centimeter-level indoor navigation and 3D scene reconstruction capabilities of our *** challenges and limitations stemming from the above enabling technologies are discussed at the end of each corresponding *** summary,this research advances fundamental techniques for multi-robot indoor 3D modeling,contributing to automated,data-driven applications through coordinated robot navigation,perception,and modeling.