10 citations · 10 across the 3 of their papers we have counts for
5 papers
FoundationVIO: Enforcing Metric Scale in Feed-forward Visual-Inertial Odometry
Jin Rhee, Yuhao Zhang, Frank Dellaert +1
Feed-forward geometric foundation models (GFMs) directly predict dense geometry and camera poses from batches of images. Emerging visual SLAM methods chain together consecutive GFM…
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…
A Framework for Reproducible Benchmarking and Performance Diagnosis of SLAM Systems
Nikola Radulov, Yuhao Zhang, Mihai Bujanca +2
We propose SLAMFuse, an open-source SLAM benchmarking framework that provides consistent crossplatform environments for evaluating multi-modal SLAM algorithms, along with tools for…
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…