6 citations · 7 across the 7 of their papers we have counts for
7 papers
SUFLECA: Scaling Up Feature Learning for CAD-to-image Alignment
Saad Ejaz, Miguel Fernandez-Cortizas, Javier Civera +2
CAD-to-image alignment aims to estimate an object's 9D pose (rotation, translation, and anisotropic scale) from a single RGB image, with applications in robotics and augmented real…
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…
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…
Category-level Meta-learned NeRF Priors for Efficient Object Mapping
Saad Ejaz, Hriday Bavle, Laura Ribeiro +2
In 3D object mapping, category-level priors enable efficient object reconstruction and canonical pose estimation, requiring only a single prior per semantic category (e.g., chair,…
Towards Localizing Structural Elements: Merging Geometrical Detection with Semantic Verification in RGB-D Data
Ali Tourani, Saad Ejaz, Hriday Bavle +2
RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth a…
Trust-aware Safe Control for Autonomous Navigation: Estimation of System-to-human Trust for Trust-adaptive Control Barrier Functions
Saad Ejaz, Masaki Inoue
A trust-aware safe control system for autonomous navigation in the presence of humans, specifically pedestrians, is presented. The system combines model predictive control (MPC) wi…