Author

Masoud Ataei

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Preprint Sep 2026

ForVis: An In-Field Dataset and Benchmark for VIO Using Under-Canopy UAV Flights in Forests

Visual-inertial Simultaneous Localization and Mapping (VI-SLAM) for UAVs remains difficult to evaluate in real forest environments, where motion, illumination changes, repetitive vegetation, and vibration can all affect estimation. We present ForVis, an in-field dataset and benchmark for evaluating VI-SLAM during UAV f...

Arman Kiani, Masoud Ataei, Elvis Gyaase et al. · 0 citations

#artificial intelligence Preprint Sep 2026

SE(3) Neural Potential Fields for 6-DoF Trajectory Planning Directly from Images Without Explicit 3D Reconstruction

This work presents an SE(3) neural potential field learned from posed RGB images and supervised with a navigation function, the geodesic distance to the grasp through free space recovered from those same images during training, which removes both failures.

Jeffrey Eiyike, Masoud Ataei, Elvis Gyaase et al. · 0 citations