3 papers
cs.CV2026
M2H-MX: Multi-Task Semantic and Geometric Perception for Real-Time Monocular 3D Scene Graph Construction
U. V. B. L. Udugama, George Vosselman, Francesco Nex
Monocular cameras are attractive for robotic perception due to their low cost and ease of deployment, yet achieving reliable real-time spatial understanding from a single image str…
cs.RO2026
Mono-Hydra++: Real-Time Monocular Scene Graph Construction with Multi-Task Learning for 3D Indoor Mapping
U. V. B. L. Udugama, George Vosselman, Francesco Nex
Autonomous agile robots need more than metric geometry: they must understand objects, rooms, places, and spatial relations for search, inspection, exploration, and human robot inte…
cs.CV2025
M2H: Multi-Task Learning with Efficient Window-Based Cross-Task Attention for Monocular Spatial Perception
U. V. B. L Udugama, George Vosselman, Francesco Nex
Deploying real-time spatial perception on edge devices requires efficient multi-task models that leverage complementary task information while minimizing computational overhead. Th…