I don't know a definitive answer, but I've read that the virus doesn't survive on dogs and their fur. I personally am not worried about it. I walk my dog every day and my cat goes out in the yard and in front of the house for a couple of hours a day, in and out. They both come back in and step on our chairs, couch, bed, etc.
I usually take my shoes off when I get home just to be comfortable, but sometimes I have them on for a while, maybe because I have to go out again to run an errand. I imagine the virus can get into my house on my shoes or my pet's paws.....but I think the chances of that happening are very slim.
Keesha mentioned someone petting the dog who is infected, I think they would have to really handle the dog's collar for there to be cause for concern. The virus won't live on their fur or hair.
Today, I had to bring my dog to the vet for his heartworm medicine, he takes it every month of the year and his next dose is due May 1st. They insisted over the phone that he needed a blood test because it was two years since his last one. They had curbside service, no people went into the building, the techs came out to get the dogs.
Well, in order to be coronavirus safe, I put my dog's vacation collar on, so when they handled him I could just take off the collar at home and maybe put it in the garage for a few days, then clean it. Turns out they just looped their own leash on him and never touched the collar. They brought him out quickly with the years worth of meds, never got the bloodtest. She claimed he was good for one more year before needing one. So that was a big waste, I could have gone there without him, which is what I wanted to do initially.
So....I did think if he would bring the virus home at all, it would be on his collar. There have been people we know who pet him at the park while I keep my distance, he has a 26' retractable leash.....they really don't hold onto or grab his collar at all. I'm pretty careful about the virus, I had mask and gloves on today.....but I don't let it overwhelm me, not getting paranoid about it....just taking common sense steps. Still checking the mail with my gloves on, etc.