Hoi Chuen Cheng, Frederick Ziyang Hong, Babar Hussain, Yiru Wang, Chik Patrick Yue*
CMC-Computers, Materials & Continua, Vol.81, No.1, pp. 161-181, 2024, DOI:10.32604/cmc.2024.053079
- 15 October 2024
Abstract 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 More >
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