52 citations · 134 across the 13 of their papers we have counts for
13 papers
MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors
Riku Murai, Eric Dexheimer, Andrew J. Davison
We present a real-time monocular dense SLAM system designed bottom-up from MASt3R, a two-view 3D reconstruction and matching prior. Equipped with this strong prior, our system is r…
SAFER-Splat: A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps
Timothy Chen, Aiden Swann, Javier Yu +4
SAFER-Splat (Simultaneous Action Filtering and Environment Reconstruction) is a real-time, scalable, and minimally invasive action filter, based on control barrier functions, for s…
PixRO: Pixel-Distributed Rotational Odometry with Gaussian Belief Propagation
Ignacio Alzugaray, Riku Murai, Andrew Davison
Images are the standard input for most computer vision algorithms. However, their processing often reduces to parallelizable operations applied locally and independently to individ…
Visual Inertial Odometry using Focal Plane Binary Features (BIT-VIO)
Matthew Lisondra, Junseo Kim, Riku Murai +2
Focal-Plane Sensor-Processor Arrays (FPSP)s are an emerging technology that can execute vision algorithms directly on the image sensor. Unlike conventional cameras, FPSPs perform c…
Distributed Simultaneous Localisation and Auto-Calibration using Gaussian Belief Propagation
Riku Murai, Ignacio Alzugaray, Paul H. J. Kelly +1
We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot…
Gaussian Splatting SLAM
Hidenobu Matsuki, Riku Murai, Paul H. J. Kelly +1
We present the first application of 3D Gaussian Splatting in monocular SLAM, the most fundamental but the hardest setup for Visual SLAM. Our method, which runs live at 3fps, utilis…
Systematic Comparison of Path Planning Algorithms using PathBench
Hao-Ya Hsueh, Alexandru-Iosif Toma, Hussein Ali Jaafar +4
Path planning is an essential component of mobile robotics. Classical path planning algorithms, such as wavefront and rapidly-exploring random tree (RRT) are used heavily in autono…
Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation
Aalok Patwardhan, Riku Murai, Andrew J. Davison
Precise coordinated planning over a forward time window enables safe and highly efficient motion when many robots must work together in tight spaces, but this would normally requir…
A Robot Web for Distributed Many-Device Localisation
Riku Murai, Joseph Ortiz, Sajad Saeedi +2
We show that a distributed network of robots or other devices which make measurements of each other can collaborate to globally localise via efficient ad-hoc peer to peer communica…
PathBench: A Benchmarking Platform for Classical and Learned Path Planning Algorithms
Alexandru-Iosif Toma, Hao-Ya Hsueh, Hussein Ali Jaafar +3
Path planning is a key component in mobile robotics. A wide range of path planning algorithms exist, but few attempts have been made to benchmark the algorithms holistically or uni…
Cain: Automatic Code Generation for Simultaneous Convolutional Kernels on Focal-plane Sensor-processors
Edward Stow, Riku Murai, Sajad Saeedi +1
Focal-plane Sensor-processors (FPSPs) are a camera technology that enable low power, high frame rate computation, making them suitable for edge computation. Unfortunately, these de…
AnalogNet: Convolutional Neural Network Inference on Analog Focal Plane Sensor Processors
Matthew Z. Wong, Benoit Guillard, Riku Murai +2
We present a high-speed, energy-efficient Convolutional Neural Network (CNN) architecture utilising the capabilities of a unique class of devices known as analog Focal Plane Sensor…
BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane
Riku Murai, Sajad Saeedi, Paul H. J. Kelly
Focal-plane Sensor-processor (FPSP) is a next-generation camera technology which enables every pixel on the sensor chip to perform computation in parallel, on the focal plane where…