119 citations · 181 across the 22 of their papers we have counts for
11 papers · 1 filter
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…
SMapper: A Multi-Modal Data Acquisition Platform for SLAM Benchmarking
Pedro Miguel Bastos Soares, Ali Tourani, Miguel Fernandez-Cortizas +3
Advancing research in fields such as Simultaneous Localization and Mapping (SLAM) and autonomous navigation critically depends on the availability of reliable and reproducible mult…
Human Interaction for Collaborative Semantic SLAM using Extended Reality
Laura Ribeiro, Muhammad Shaheer, Miguel Fernandez-Cortizas +3
Semantic SLAM (Simultaneous Localization and Mapping) systems enrich robot maps with structural and semantic information, enabling robots to operate more effectively in complex env…
BIM Informed Visual SLAM for Construction Environments
Asier Bikandi-Noya, Miguel Fernandez-Cortizas, Muhammad Shaheer +3
Monitoring building construction sites requires comparing the as-planned design with the as-built state, which can be estimated in real time using Simultaneous Localization and Map…
Interpretable Robot Control via Structured Behavior Trees and Large Language Models
Ingrid Maéva Chekam, Ines Pastor-Martinez, Ali Tourani +5
As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable…
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,…
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…
Unveiling the Potential of iMarkers: Invisible Fiducial Markers for Advanced Robotics
Ali Tourani, Deniz Isinsu Avsar, Hriday Bavle +3
Fiducial markers are widely used in robotics for navigation, object recognition, and scene understanding. While offering significant advantages for robots and Augmented Reality (AR…
UAV-assisted Visual SLAM Generating Reconstructed 3D Scene Graphs in GPS-denied Environments
Ahmed Radwan, Ali Tourani, Hriday Bavle +2
Aerial robots play a vital role in various applications where the situational awareness of the robots concerning the environment is a fundamental demand. As one such use case, dron…
Vision-based Situational Graphs Exploiting Fiducial Markers for the Integration of Semantic Entities
Ali Tourani, Hriday Bavle, Jose Luis Sanchez-Lopez +3
Situational Graphs (S-Graphs) merge geometric models of the environment generated by Simultaneous Localization and Mapping (SLAM) approaches with 3D scene graphs into a multi-layer…
Marker-based Visual SLAM leveraging Hierarchical Representations
Ali Tourani, Hriday Bavle, Jose Luis Sanchez-Lopez +2
Fiducial markers can encode rich information about the environment and can aid Visual SLAM (VSLAM) approaches in reconstructing maps with practical semantic information. Current ma…