9 papers
DAVIO: Dense Monocular-Inertial SLAM with Feed-Forward Initialization and Pose-Conditioned Mapping
Jaafar Mahmoud, Arthur Movsesyan, Mikhail Iumanov +1
A camera and an IMU are the minimal sensor setup for metric localization and dense mapping, yet classical visual--inertial filters must wait for parallax before they start and then…
OSMa-Bench++: Toward Open-Ended Benchmarking of Semantic Mapping for Manipulation with Prompt-Generated Synthetic Scenes
Regina Kurkova, Maxim Popov, Sergey Kolyubin
Semantic mapping methods are increasingly used as intermediate scene representations for downstream robotic reasoning and manipulation, yet their evaluation is still largely tied t…
AgentGrounder: Zero-Shot 3D Visual Pointcloud Grounding using Multimodal Language Models
Cuong Huynh, Maxim Popov, Denis Gridusov +1
3D Visual Grounding (3DVG) is an essential capability for embodied AI, requiring agents to localize objects in 3D scenes based on natural language descriptions. Recent zero-shot me…
Accelerated Spatio-Temporal Gaussian Rendering via Kinematic and Semantic Priors
Denis Gridusov, Maxim Popov, Sergey Kolyubin
Reconstructing dynamic 3D scenes from multi-view videos is a foundational task for robotics, AR/VR, and digital twins. While 3D Gaussian Splatting (3DGS) provides state-of-the art…
RADIO-ViPE: Online Tightly Coupled Multi-Modal Fusion for Open-Vocabulary Semantic SLAM in Dynamic Environments
Zaid Nasser, Mikhail Iumanov, Tianhao Li +3
We present RADIO-ViPE (Reduce All Domains Into One -- Video Pose Engine), an online semantic SLAM system that enables geometry-aware open-vocabulary grounding, associating arbitrar…
KM-ViPE: Online Tightly Coupled Vision-Language-Geometry Fusion for Open-Vocabulary Semantic SLAM
Zaid Nasser, Mikhail Iumanov, Tianhao Li +7
We present KM-ViPE (Knowledge Mapping Video Pose Engine), a real-time open-vocabulary SLAM framework for uncalibrated monocular cameras in dynamic environments. Unlike systems requ…
OSMa-Bench: Evaluating Open Semantic Mapping Under Varying Lighting Conditions
Maxim Popov, Regina Kurkova, Mikhail Iumanov +2
Open Semantic Mapping (OSM) is a key technology in robotic perception, combining semantic segmentation and SLAM techniques. This paper introduces a dynamically configurable and hig…
Synergizing Morphological Computation and Generative Design: Automatic Synthesis of Tendon-Driven Grippers
Kirill Zharkov, Mikhail Chaikovskii, Yefim Osipov +3
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout…
GSplatLoc: Grounding Keypoint Descriptors into 3D Gaussian Splatting for Improved Visual Localization
Gennady Sidorov, Malik Mohrat, Denis Gridusov +2
Although various visual localization approaches exist, such as scene coordinate regression and camera pose regression, these methods often struggle with optimization complexity or…