Development of Multi-Agent-Based Indoor 3D Reconstruction  

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

机构地区：[1]Optical Wireless Lab,Department of Electronic and Computer Engineering,The Hong Kong University of Science and Technology,Hong Kong,China

出　　处：《Computers, Materials & Continua》2024年第10期161-181,共21页计算机、材料和连续体（英文）

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).

摘　　要：Large-scale indoor 3D reconstruction with multiple robots faces challenges in core enabling technologies.This 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 proposed.Our visible light positioning algorithm leverages existing lighting for centimeter-level localization without additional infrastructure.Meanwhile,a decentralized reinforcement learning approach is developed to solve the multi-agent path finding problem,with communications among agents optimized.Our 3D reconstruction pipeline utilizes equirectangular projection from 360°cameras to facilitate depth-independent reconstruction from posed monocular images using neural networks.Experimental validation demonstrates centimeter-level indoor navigation and 3D scene reconstruction capabilities of our framework.The challenges and limitations stemming from the above enabling technologies are discussed at the end of each corresponding section.In 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.

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

分 类 号：TP39[自动化与计算机技术—计算机应用技术]