Projects

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Reconstruction | Change Detection

Reconstruction

PlanarMesh: Building Compact 3D Meshes from LiDAR using Incremental Adaptive Resolution Reconstruction. Jiahao Wang, Nived Chebrolu, Yifu Tao, Lintong Zhang, Ayoung Kim, Maurice Fallon, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2025.
Paper   Video   Webpage  

Sapling-NeRF: Geo-Localised Sapling Reconstruction in Forests for Ecological Monitoring. Miguel Ángel Muñoz-Bañón, Nived Chebrolu, Sruthi M. Krishna Moorthy, Yifu Tao, Fernando Torres, Roberto Salguero-Gómez, Maurice Fallon, ArXiv, 2025.
Paper   Video   Webpage  

Change Detection

• OASIS-Map: Object-Level Change Detection in Multi-Session Mapping using Semantic Correspondence Matching

Lidar Mapping

• Forest Robotics research developed as part of DigiForest
• Aerial Mapping
• SiLVR: Large-scale Lidar-Visual NeRF Mapping

Legged Robot Navigation

• Navigation with Time of Flight Sensing: Quadruped Obstacle Avoidance and Footstep Planning with Distributed Low-cost Time-of-Flight Sensors (RA-L 2026)
• Legged Robot Navigation
• Pronto: Legged Robot State Estimation

Visual Mapping

• ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM
• LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction
• Language-EXtended Indoor SLAM (LEXIS)
• Exosense: A vision system For exoskeletons

Biomedical Ultrasound

• 3D Reconstruction with Ultrasound and Vision

Place Recognition

• InstaLoc: Lidar Localisation through Instance Segmentation

Hardware Development

• Frontier Mapping Payload

Older Projects

• Depth Completion
• VILENS Tightly Fused Multi-Sensor Odometry
• Lidar Simultaneous Localization and Mapping
• Lidar Place Recognition
• Active Mapping
• Online Planning of Adaptive Locomotion

Links

• Youtube Videos
• Group Github Account

Collaborative Research Projects

We are also involved in the collaborative research projects with groups such as Robot Systems Lab (ETH Zurich), Stachniss Lab (Uni. of Bonn), Smart Robotics Lab (TU Munich) and Autonomous Robotics Lab (NTNU, Trondheim, Norway).

• Digiforest - Digital Analytics and Robotics for Sustainable Forestry

We another ongoing collaboration with Seoul National University (in particular Prof. Ayoung Kim’s team) and also with colleagues in Sogang University, KEIT and MIT in a project called Harmonic Space which is kindly funded by the Korean National Research Foundation.

Older Collaborative Projects

Previous collaborations included Gepetto Group (LAAS Toulouse), SLMC (Uni. of Edinburgh), University of Manchester and Heriot Watt University.

• MEMMO - Memory of Motion
• THING - subTerranean Haptic INvestiGator
• EPSRC ORCA Research Hub
• EPSRC RAIN Research Hub
• DARPA SubT Challenge