27 citations · 67 across the 22 of their papers we have counts for
9 papers · 1 filter
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…
OASIS-Map: Object-Level Change Detection in Multi-Session Mapping using Semantic Correspondence Matching
Haedam Oh, Yifu Tao, Nived Chebrolu +1
Map representations which are consistent across repeated visits to a real-world semi-static environment are very useful for long-term robotic inspection. In such settings, the scen…
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…
LAPS: Improving Incremental LiDAR Mapping using Active Pooling and Sampling for Neural Distance Fields
Dongjae Lee, Wooseong Yang, Yifu Tao +2
Neural distance fields offer a compact and continuous representation of 3D geometry, making them attractive for incremental LiDAR mapping. However, their online optimization is vul…
TreeLoc++: Robust 6-DoF LiDAR Localization in Forests with a Compact Digital Forest Inventory
Minwoo Jung, Dongjae Lee, Nived Chebrolu +3
Reliable localization is essential for sustainable forest management, as it allows robots to revisit and monitor the status of individual trees over long periods. In modern forestr…
Sapling-NeRF: Geo-Localised Sapling Reconstruction in Forests for Ecological Monitoring
Miguel Ángel Muñoz-Bañón, Nived Chebrolu, Sruthi M. Krishna Moorthy +4
Saplings are key indicators of forest regeneration and overall forest health. However, their fine-scale architectural traits are difficult to capture with existing 3D sensing metho…
TreeLoc: 6-DoF LiDAR Global Localization in Forests via Inter-Tree Geometric Matching
Minwoo Jung, Nived Chebrolu, Lucas Carvalho de Lima +3
Reliable localization is crucial for navigation in forests, where GPS is often degraded and LiDAR measurements are repetitive, occluded, and structurally complex. These conditions…
GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation
Turcan Tuna, Jonas Frey, Frank Fu +5
Accurate state estimation and multi-modal perception are prerequisites for autonomous legged robots in complex, large-scale environments. To date, no large-scale public legged-robo…