{"ID":2921816,"CreatedAt":"2026-06-02T02:42:49.606572591Z","UpdatedAt":"2026-06-03T05:56:00.181519634Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2606.01367","arxiv_id":"2606.01367","title":"ActMVS: Active Scene Reconstruction with Monocular Multi-View Stereo","abstract":"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, the first framework for monocular active reconstruction. Our framework integrates a view factor graph construction for informed Multi-View Stereo depth prediction, along with a global depth optimization, to enable the online generation of high-quality, globally consistent dense depth maps. This enables monocular robots/UAVs to maintain reliable occupancy maps for safe trajectory planning during reconstruction. Experiments on Replica datasets demonstrate performance competitive with RGB-D methods. Our code and data are available at https://github.com/TrickyGo/ActMVS.","short_abstract":"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 o...","url_abs":"https://arxiv.org/abs/2606.01367","url_pdf":"https://arxiv.org/pdf/2606.01367v1","authors":"[\"Guo Pu\",\"Yixuan Han\",\"Zhouhui Lian\"]","published":"2026-05-31T17:51:47Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.CV\"]","methods":"[]","has_code":false,"code_links":[{"ID":612610,"CreatedAt":"2026-06-02T02:42:49.606572591Z","UpdatedAt":"2026-06-02T02:42:49.606572591Z","DeletedAt":null,"paper_id":2921816,"paper_url":"https://arxiv.org/abs/2606.01367","paper_title":"ActMVS: Active Scene Reconstruction with Monocular Multi-View Stereo","repo_url":"https://github.com/TrickyGo/ActMVS","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}