{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,27]],"date-time":"2026-06-27T16:08:11Z","timestamp":1782576491911,"version":"3.54.5"},"reference-count":54,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2019,7,12]],"date-time":"2019-07-12T00:00:00Z","timestamp":1562889600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Basic Research Program of China","doi-asserted-by":"crossref","award":["2015CB352501"],"award-info":[{"award-number":["2015CB352501"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61572507, 61532003, 61622212"],"award-info":[{"award-number":["61572507, 61532003, 61622212"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2019,8,31]]},"abstract":"<jats:p>We present an autonomous scanning approach which allows multiple robots to perform collaborative scanning for dense 3D reconstruction of unknown indoor scenes. Our method plans scanning paths for several robots, allowing them to efficiently coordinate with each other such that the collective scanning coverage and reconstruction quality is maximized while the overall scanning effort is minimized. To this end, we define the problem as a dynamic task assignment and introduce a novel formulation based on Optimal Mass Transport (OMT). Given the currently scanned scene, a set of task views are extracted to cover scene regions which are either unknown or uncertain. These task views are assigned to the robots based on the OMT optimization. We then compute for each robot a smooth path over its assigned tasks by solving an approximate traveling salesman problem. In order to showcase our algorithm, we implement a multi-robot auto-scanning system. Since our method is computationally efficient, we can easily run it in real time on commodity hardware, and combine it with online RGB-D reconstruction approaches. In our results, we show several real-world examples of large indoor environments; in addition, we build a benchmark with a series of carefully designed metrics for quantitatively evaluating multi-robot autoscanning. Overall, we are able to demonstrate high-quality scanning results with respect to reconstruction quality and scanning efficiency, which significantly outperforms existing multi-robot exploration systems.<\/jats:p>","DOI":"10.1145\/3306346.3322942","type":"journal-article","created":{"date-parts":[[2019,7,12]],"date-time":"2019-07-12T19:04:08Z","timestamp":1562958248000},"page":"1-16","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":100,"title":["Multi-robot collaborative dense scene reconstruction"],"prefix":"10.1145","volume":"38","author":[{"given":"Siyan","family":"Dong","sequence":"first","affiliation":[{"name":"Shandong University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kai","family":"Xu","sequence":"additional","affiliation":[{"name":"National University of Defense Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qiang","family":"Zhou","sequence":"additional","affiliation":[{"name":"Shandong University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrea","family":"Tagliasacchi","sequence":"additional","affiliation":[{"name":"Google Inc., University of Waterloo"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shiqing","family":"Xin","sequence":"additional","affiliation":[{"name":"Shandong University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Matthias","family":"Nie\u00dfner","sequence":"additional","affiliation":[{"name":"Technical University of Munich"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Baoquan","family":"Chen","sequence":"additional","affiliation":[{"name":"Peking University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2019,7,12]]},"reference":[{"key":"e_1_2_2_1_1","unstructured":"AMCL. 2013. The ROS Package of AMCL. http:\/\/wiki.ros.org\/amcl.  AMCL. 2013. The ROS Package of AMCL. http:\/\/wiki.ros.org\/amcl."},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487622"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139863"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1137\/0216006"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/1531326.1531392"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.omega.2004.10.004"},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913507324"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.12178"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2017.00081"},{"key":"e_1_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.003"},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/2461912.2461940"},{"key":"e_1_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911410755"},{"key":"e_1_2_2_13_1","volume-title":"Proc. CVPR. 5556--5565","author":"Choi Sungjoon","year":"2015","unstructured":"Sungjoon Choi , Qian-Yi Zhou , and Vladlen Koltun . 2015 . Robust reconstruction of indoor scenes . In Proc. CVPR. 5556--5565 . Sungjoon Choi, Qian-Yi Zhou, and Vladlen Koltun. 2015. Robust reconstruction of indoor scenes. In Proc. CVPR. 5556--5565."},{"key":"e_1_2_2_14_1","unstructured":"Nicos Christofides. 1976. Worst-Case Analysis of a New Heuristic for the Traveling Salesman Problem. (1976).  Nicos Christofides. 1976. Worst-Case Analysis of a New Heuristic for the Traveling Salesman Problem. (1976)."},{"key":"e_1_2_2_15_1","volume-title":"Metro: Measuring error on simplified surfaces. Computer Graphics Forum","author":"Cignoni Paolo","year":"1998","unstructured":"Paolo Cignoni , Claudio Rocchini , and Roberto Scopigno . 1998 . Metro: Measuring error on simplified surfaces. Computer Graphics Forum (1998). Paolo Cignoni, Claudio Rocchini, and Roberto Scopigno. 1998. Metro: Measuring error on simplified surfaces. Computer Graphics Forum (1998)."},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2010.2040495"},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/237170.237269"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/3054739"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1137\/040617364"},{"key":"e_1_2_2_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385660"},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/2980179.2980225"},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.587"},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696923"},{"key":"e_1_2_2_24_1","volume-title":"Cognitive mapping and planning for visual navigation. arXiv preprint arXiv:1702.03920 3","author":"Gupta Saurabh","year":"2017","unstructured":"Saurabh Gupta , James Davidson , Sergey Levine , Rahul Sukthankar , and Jitendra Malik . 2017. Cognitive mapping and planning for visual navigation. arXiv preprint arXiv:1702.03920 3 ( 2017 ). Saurabh Gupta, James Davidson, Sergey Levine, Rahul Sukthankar, and Jitendra Malik. 2017. Cognitive mapping and planning for visual navigation. arXiv preprint arXiv:1702.03920 3 (2017)."},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000036836.66311.97"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907054"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487258"},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9321-0"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTSS.2005.27"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/2047196.2047270"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2015.2459891"},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389727"},{"key":"e_1_2_2_33_1","volume-title":"Proc. ICRA.","author":"Krainin M.","unstructured":"M. Krainin , B. Curless , and D. Fox . 2011. Autonomous Generation of Complete 3D Object Models Using Next Best View Manipulation Planning . In Proc. ICRA. M. Krainin, B. Curless, and D. Fox. 2011. Autonomous Generation of Complete 3D Object Models Using Next Best View Manipulation Planning. In Proc. ICRA."},{"key":"e_1_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385624"},{"key":"e_1_2_2_35_1","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201295"},{"key":"e_1_2_2_36_1","volume-title":"Proceedings of 14th Pacific Conference on Computer Graphics and Applications (Pacific Graphics","author":"Low Kok-Lim","year":"2006","unstructured":"Kok-Lim Low and Anselmo Lastra . 2006 . An adaptive hierarchical next-best-view algorithm for 3d reconstruction of indoor scenes . In Proceedings of 14th Pacific Conference on Computer Graphics and Applications (Pacific Graphics 2006). Kok-Lim Low and Anselmo Lastra. 2006. An adaptive hierarchical next-best-view algorithm for 3d reconstruction of indoor scenes. In Proceedings of 14th Pacific Conference on Computer Graphics and Applications (Pacific Graphics 2006)."},{"key":"e_1_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2408456"},{"key":"e_1_2_2_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2011.6092378"},{"key":"e_1_2_2_39_1","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508374"},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4026344"},{"key":"e_1_2_2_41_1","volume-title":"Mass Transportation Problems: Volume I: Theory","author":"Rachev Svetlozar T","unstructured":"Svetlozar T Rachev and Ludger R\u00fcschendorf . 1998. Mass Transportation Problems: Volume I: Theory . Vol. 1 . Springer Science & Business Media . Svetlozar T Rachev and Ludger R\u00fcschendorf. 1998. Mass Transportation Problems: Volume I: Theory. Vol. 1. Springer Science & Business Media."},{"key":"e_1_2_2_42_1","unstructured":"ROS. 2014. ROS Wiki. http:\/\/wiki.ros.org\/.  ROS. 2014. ROS Wiki. http:\/\/wiki.ros.org\/."},{"key":"e_1_2_2_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989445"},{"key":"e_1_2_2_44_1","doi-asserted-by":"crossref","unstructured":"Shuran Song Fisher Yu Andy Zeng Angel X Chang Manolis Savva and Thomas Funkhouser. 2017. Semantic Scene Completion from a Single Depth Image. (2017).  Shuran Song Fisher Yu Andy Zeng Angel X Chang Manolis Savva and Thomas Funkhouser. 2017. Semantic Scene Completion from a Single Depth Image. (2017).","DOI":"10.1109\/CVPR.2017.28"},{"key":"e_1_2_2_45_1","volume-title":"Room: Toward Perfect Object Recognition in Closed Environments. arXiv preprint arXiv:1507.02703","author":"Song S.","year":"2015","unstructured":"S. Song , L. Zhang , and J. Xiao . 2015 . Robot In a Room: Toward Perfect Object Recognition in Closed Environments. arXiv preprint arXiv:1507.02703 (2015). S. Song, L. Zhang, and J. Xiao. 2015. Robot In a Room: Toward Perfect Object Recognition in Closed Environments. arXiv preprint arXiv:1507.02703 (2015)."},{"key":"e_1_2_2_46_1","volume-title":"Probabilistic robotics","author":"Thrun Sebastian","unstructured":"Sebastian Thrun , Wolfram Burgard , and Dieter Fox . 2005. Probabilistic robotics . MIT press . Sebastian Thrun, Wolfram Burgard, and Dieter Fox. 2005. Probabilistic robotics. MIT press."},{"key":"e_1_2_2_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/2980179.2980226"},{"key":"e_1_2_2_48_1","volume-title":"Discussion of Multi-Robot Exploration in Communication-Limited Environments. In 2013 ICRA Workshop on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration.","author":"Visser A","year":"2013","unstructured":"A Visser , J De Hoog , A Jimenezgonzalez , and J. R Martinezde Dios . 2013 . Discussion of Multi-Robot Exploration in Communication-Limited Environments. In 2013 ICRA Workshop on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration. A Visser, J De Hoog, A Jimenezgonzalez, and J. R Martinezde Dios. 2013. Discussion of Multi-Robot Exploration in Communication-Limited Environments. In 2013 ICRA Workshop on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration."},{"key":"e_1_2_2_49_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.001"},{"key":"e_1_2_2_50_1","doi-asserted-by":"publisher","DOI":"10.1145\/2661229.2661242"},{"key":"e_1_2_2_51_1","doi-asserted-by":"publisher","DOI":"10.1145\/2980179.2982428"},{"key":"e_1_2_2_52_1","doi-asserted-by":"publisher","DOI":"10.1145\/3130800.3130812"},{"key":"e_1_2_2_53_1","doi-asserted-by":"publisher","DOI":"10.5772\/57313"},{"key":"e_1_2_2_54_1","doi-asserted-by":"publisher","DOI":"10.1145\/2768821"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3306346.3322942","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3306346.3322942","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T00:25:44Z","timestamp":1750206344000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3306346.3322942"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,12]]},"references-count":54,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2019,8,31]]}},"alternative-id":["10.1145\/3306346.3322942"],"URL":"https:\/\/doi.org\/10.1145\/3306346.3322942","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,7,12]]},"assertion":[{"value":"2019-07-12","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}