# ActMVS: Active Scene Reconstruction with Monocular Multi-View Stereo

arXiv: https://arxiv.org/abs/2606.01367 · HTML: https://mlsanity.com/paper/2606.01367/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 33 of its 49 references that are in the map.
- First posted on arXiv 31 May 2026.

## Builds on (most cited first, 30 of 33)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [MVSNet: Depth Inference for Unstructured Multi-view Stereo](https://mlsanity.com/paper/1804.02505/) (2018)
- [Fast3R: Towards 3D Reconstruction of 1000+ Images in One Forward Pass](https://mlsanity.com/paper/2501.13928/) (2025)
- [DSAC - Differentiable RANSAC for Camera Localization](https://mlsanity.com/paper/1611.05705/) (2016)
- [Visual Geometry Grounded Deep Structure From Motion](https://mlsanity.com/paper/2312.04563/) (2023)
- [PatchmatchNet: Learned Multi-View Patchmatch Stereo](https://mlsanity.com/paper/2012.01411/) (2020)
- [MASt3R-SfM: a Fully-Integrated Solution for Unconstrained Structure-from-Motion](https://mlsanity.com/paper/2409.19152/) (2024)
- [High-quality Surface Reconstruction using Gaussian Surfels](https://mlsanity.com/paper/2404.17774/) (2024)
- [MUSt3R: Multi-view Network for Stereo 3D Reconstruction](https://mlsanity.com/paper/2503.01661/) (2025)
- [MIDI: Multi-Instance Diffusion for Single Image to 3D Scene Generation](https://mlsanity.com/paper/2412.03558/) (2024)
- [CAST: Component-Aligned 3D Scene Reconstruction from an RGB Image](https://mlsanity.com/paper/2502.12894/) (2025)
- [Wonderland: Navigating 3D Scenes from a Single Image](https://mlsanity.com/paper/2412.12091/) (2024)
- [SimpleRecon: 3D Reconstruction Without 3D Convolutions](https://mlsanity.com/paper/2208.14743/) (2022)
- [EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors](https://mlsanity.com/paper/2008.08835/) (2020)
- [ActiveGS: Active Scene Reconstruction Using Gaussian Splatting](https://mlsanity.com/paper/2412.17769/) (2024)
- [ActiveSplat: High-Fidelity Scene Reconstruction through Active Gaussian Splatting](https://mlsanity.com/paper/2410.21955/) (2024)
- [GS-Planner: A Gaussian-Splatting-based Planning Framework for Active High-Fidelity Reconstruction](https://mlsanity.com/paper/2405.10142/) (2024)
- [NARUTO: Neural Active Reconstruction from Uncertain Target Observations](https://mlsanity.com/paper/2402.18771/) (2024)
- [MVSAnywhere: Zero-Shot Multi-View Stereo](https://mlsanity.com/paper/2503.22430/) (2025)
- [Learning-based Multi-View Stereo: A Survey](https://mlsanity.com/paper/2408.15235/) (2024)

## Abstract (arXiv)

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.