Riku Murai
@rmurai0610
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PostDoc at Imperial College London. Interested in distributed many-device optimisation and SLAM
Joined July 2018
Introducing MASt3R-SLAM, the first real-time monocular dense SLAM with MASt3R as a foundation. Easy to use like DUSt3R/MASt3R, from an uncalibrated RGB video it recovers accurate, globally consistent poses & a dense map. With @eric_dexheimer*, @AjdDavison (*Equal Contribution)
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RT @AjdDavison: Well done to Riku and @eric_dexheimer on Best Demo Honourable Mention for MASt3R-SLAM at #CVPR2025. That's 3 best demo awar….
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We (with @eric_dexheimer) will be demoing MASt3R-SLAM @CVPR today 16:00-18:00, ExHall B, 9. Come and see the limits of our real-time monocular dense SLAM!. We’ll also be presenting our poster #83 on Sat 14th from 17:00-19:00. See you soon!
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RT @HideMatsu82: Visual SLAM has made major success in static scenes — now let’s explore the dynamic world we live in!. At #CVPR2025, we in….
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RT @eric_dexheimer: We’ve had fun testing the limits of MASt3R-SLAM on in-the-wild videos. Here’s the drone video of a Minnesota bowling al….
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MASt3R-SLAM code release!. Try it out on videos or with a live camera. Work with @eric_dexheimer*, @AjdDavison (*Equal Contribution).
github.com
[CVPR 2025] MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors - rmurai0610/MASt3R-SLAM
Introducing MASt3R-SLAM, the first real-time monocular dense SLAM with MASt3R as a foundation. Easy to use like DUSt3R/MASt3R, from an uncalibrated RGB video it recovers accurate, globally consistent poses & a dense map. With @eric_dexheimer*, @AjdDavison (*Equal Contribution)
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For robustness, MASt3R-SLAM performs relocalisation allowing it to handle the kidnapped robot problem. As a purely monocular SLAM, it loses track when the camera’s view is obstructed, but as soon as the view is unblocked, it immediately relocalises and resumes mapping.
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We use MASt3R's two-view prior as our only network with no fine-tuning. By leveraging this 3D prior and making minimal assumptions on the camera model, we can handle dynamically changing zoom. Efficient test-time optimisation and loop closure enable large-scale consistency.
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We'll be presenting "Distributed Simultaneous Localisation and Auto-Calibration using GBP" at #IROS2024. We show that distributed GBP can be effectively used to localise and auto-calibrate many robots. Please come to our presentation (Wed 17:30 Room 11) if you're around!
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RT @alzugarayign: We are presenting Hyperion at #ECCV2024 TODAY! Come by the poster 199. Continuous-time SLAM + Guassian Belief Propagation….
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RT @eric_dexheimer: COMO will be presented as an 𝐨𝐫𝐚𝐥 at #ECCV2024!. Also come see the 𝐥𝐢𝐯𝐞 𝐝𝐞𝐦𝐨 of our compact 3D representation for real-….
edexheim.github.io
We present COMO, a real-time monocular mapping and odometry system that encodes dense geometry via a compact set of 3D anchor points. Decoding anchor point projections into dense geometry via...
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RT @sethnabarro: Excited to be at ICML! I'll be presenting a poster on GBP Learning — our approach to train deep networks using Gaussian be….
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I've passed my PhD viva! .Thank you to my examiners @lucacarlone1 and Christos for all the great discussion, and to my supervisors @AjdDavison and @paulhjkelly for making my PhD journey fun and exciting!
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RT @AjdDavison: We won Best Demo at #CVPR2024 for Gaussian Splatting SLAM (@HideMatsu82 + @rmurai0610). Also: Best Demo Honourable Mention….
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RT @HideMatsu82: Realtime, live interaction is what we enjoy most for SLAM research🙂. Check out Gaussian Splatting SLAM (Highlight) demo an….
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RT @XinKong_IC: Tired of single image to 3D? Check out EscherNet tomorrow @CVPR that can take flexible number of views for 3D generation!….
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