3 papers
cs.RO2026
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…
cs.RO2026
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…
cs.RO2025
NGD-SLAM: Towards Real-Time Dynamic SLAM without GPU
Yuhao Zhang, Mihai Bujanca, Mikel Luján
Many existing visual SLAM methods can achieve high localization accuracy in dynamic environments by leveraging deep learning to mask moving objects. However, these methods incur si…