2026

arXivScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM
ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM

Yuhao Zhang, Yifu Tao, Frank Dellaert, Maurice Fallon

ICRA Workshop on Multi-Modal Spatial Intelligence, 2026

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arXiv
ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM

Yuhao Zhang, Yifu Tao, Frank Dellaert, Maurice Fallon

ICRA Workshop on Multi-Modal Spatial Intelligence, 2026

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arXivHilti-Trimble-Oxford Dataset: 360 Visual-Inertial Benchmark with Floor Plan Priors for SLAM and Localization
Hilti-Trimble-Oxford Dataset: 360 Visual-Inertial Benchmark with Floor Plan Priors for SLAM and Localization

Samuele Centanni*, Yuhao Zhang*, Yifu Tao, Julien Kindle, Frank Neuhaus, Tilman Koß, Aryaman Patel, Michael Helmberger, Emilia Szymańska, Torben Gräber, Maurice Fallon (* equal contribution)

arXiv preprint, 2026

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arXiv
Hilti-Trimble-Oxford Dataset: 360 Visual-Inertial Benchmark with Floor Plan Priors for SLAM and Localization

Samuele Centanni*, Yuhao Zhang*, Yifu Tao, Julien Kindle, Frank Neuhaus, Tilman Koß, Aryaman Patel, Michael Helmberger, Emilia Szymańska, Torben Gräber, Maurice Fallon (* equal contribution)

arXiv preprint, 2026

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2025

IROSD4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations
D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations

Yuhao Zhang, Keisuke Okumura, Heedo Woo, Ajay Shankar, Amanda Prorok

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Paper Video Code

IROS
D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations

Yuhao Zhang, Keisuke Okumura, Heedo Woo, Ajay Shankar, Amanda Prorok

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

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IROSNGD-SLAM: Towards Real-Time Dynamic SLAM without GPU
NGD-SLAM: Towards Real-Time Dynamic SLAM without GPU

Yuhao Zhang, Mihai Bujanca, Mikel Luján

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Paper Video Code

IROS
NGD-SLAM: Towards Real-Time Dynamic SLAM without GPU

Yuhao Zhang, Mihai Bujanca, Mikel Luján

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

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2024

IROSA Framework for Reproducible Benchmarking and Performance Diagnosis of SLAM Systems
A Framework for Reproducible Benchmarking and Performance Diagnosis of SLAM Systems

Nikola Radulov*, Yuhao Zhang*, Mihai Bujanca, Ruiqi Ye, Mikel Luján (* equal contribution)

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

Paper

IROS
A Framework for Reproducible Benchmarking and Performance Diagnosis of SLAM Systems

Nikola Radulov*, Yuhao Zhang*, Mihai Bujanca, Ruiqi Ye, Mikel Luján (* equal contribution)

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

Paper