cad-to-image alignment 1feature learning 1geometry-aware representations 1pose estimation 1zero-shot learning 1
From the 1 of 5 linked papers with an AI index.
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cs.RO2026
Passage-Aware Structural Mapping for RGB-D Visual SLAM
Ali Tourani, Miguel Fernandez-Cortizas, Saad Ejaz +4
Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a pa…
cs.RO2026
Situationally-aware Path Planning Exploiting 3D Scene Graphs
Saad Ejaz, Marco Giberna, Muhammad Shaheer +5
3D Scene Graphs integrate both metric and semantic information, yet their structure remains underutilized for improving path planning efficiency and interpretability. In this work,…
cs.RO2026
vS-Graphs: Tightly Coupling Visual SLAM and 3D Scene Graphs Exploiting Hierarchical Scene Understanding
Ali Tourani, Saad Ejaz, Hriday Bavle +4
Current Visual Simultaneous Localization and Mapping (VSLAM) systems often struggle to create maps that are both semantically rich and easily interpretable. While incorporating sem…