Author

Hesam Rabeti

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Preprint Oct 2026

Line-Augmented cuVSLAM: Robust Visual Odometry in Low-Texture Environments

Autonomous mobile robots in warehouses and production facilities operate in precisely the environments that defeat point-feature visual odometry: featureless aisles, uniform walls, repetitive racking and specular floors. Such environments are, however, rich in straight-edge structure: rack uprights, door frames, wall j...

Dara Molloy, Terry Wu, Wonju Lee et al. · 0 citations

Review Oct 2026

GATOR: Generative and Agentic 3D Object Reconstruction From Casual Images

Reconstructing complete, scene-aligned 3D objects from casual images requires integrating sparse, uncertain observations and inferring surfaces hidden by occlusions. We present GATOR, a generative and agentic framework that recovers textured object assets and their scene-relative pose from one or more images. Our local...

Qi-Rui Wu, Stanley T. Birchfield, Hesam Rabeti et al. · 0 citations