From the 1 of 12 linked papers with an AI index.
12 papers
OASIS-Map: Object-Level Change Detection in Multi-Session Mapping using Semantic Correspondence Matching
Haedam Oh, Yifu Tao, Nived Chebrolu +1
The paper introduces OASIS-Map, a multi‑session robotic mapping system that detects object‑level changes by matching dense semantic patches across visits, enabling reliable object…
Hilti-Trimble-Oxford Dataset: 360 Visual-Inertial Benchmark with Floor Plan Priors for SLAM and Localization
Samuele Centanni, Yuhao Zhang, Yifu Tao +8
Automated progress monitoring on construction sites is an active area of research and development. Robot and human-carried mapping systems have been developed to build 3D maps of b…
ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM
Yuhao Zhang, Yifu Tao, Frank Dellaert +1
Recent works have explored unifying SLAM with geometric foundation models (GFMs). However, directly using GFM predictions for tracking is highly sensitive to model capability and u…
LAPS: Improving Incremental LiDAR Mapping using Active Pooling and Sampling for Neural Distance Fields
Dongjae Lee, Wooseong Yang, Yifu Tao +2
Neural distance fields offer a compact and continuous representation of 3D geometry, making them attractive for incremental LiDAR mapping. However, their online optimization is vul…
Sapling-NeRF: Geo-Localised Sapling Reconstruction in Forests for Ecological Monitoring
Miguel Ãngel Muñoz-Bañón, Nived Chebrolu, Sruthi M. Krishna Moorthy +4
Saplings are key indicators of forest regeneration and overall forest health. However, their fine-scale architectural traits are difficult to capture with existing 3D sensing metho…
PlanarMesh: Building Compact 3D Meshes from LiDAR using Incremental Adaptive Resolution Reconstruction
Jiahao Wang, Nived Chebrolu, Yifu Tao +3
Building an online 3D LiDAR mapping system that produces a detailed surface reconstruction while remaining computationally efficient is a challenging task. In this paper, we presen…