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Riku Murai

@rmurai0610.bsky.social

116 followers 112 following 11 posts

Postdoc at Imperial College London Interested in SLAM and multi-device optimisation rmurai.co.uk

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Riku Murai @rmurai0610.bsky.social · 26/02/2025

I've added the ply export, hopefully it works!

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Riku Murai @rmurai0610.bsky.social · 26/02/2025

We haven't been running it without viz apart from evaluation so didn't think about this too much haha. I'll add ply export or something soon.

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Reposted by Riku Murai

Eric Dexheimer @ericdexheimer.bsky.social · 25/02/2025

We’ve had fun testing the limits of MASt3R-SLAM on in-the-wild videos. Here’s the drone video of a Minnesota bowling alley that we’ve always wanted to reconstruct! Different scene scales, dynamic objects, specular surfaces, and fast motion.

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Riku Murai @rmurai0610.bsky.social · 25/02/2025

MASt3R-SLAM code release! github.com/rmurai0610/M... Try it out on videos or with a live camera Work with @ericdexheimer.bsky.social*, @ajdavison.bsky.social (*Equal Contribution)

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Riku Murai @rmurai0610.bsky.social · 17/12/2024

Thank you! And yes same as pointmap matching (fig2, theta) it’s minimising alpha not beta (since rays are normalised, we can use eq 3)

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Riku Murai @rmurai0610.bsky.social · 16/12/2024

Thank you, and thanks for catching the typo!

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Riku Murai @rmurai0610.bsky.social · 16/12/2024

Thank you! wouldn't have been possible without MASt3R/MASt3R-SfM. This new paradigm has been inspiring!

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Riku Murai @rmurai0610.bsky.social · 16/12/2024

Thanks! We're planning on releasing the code early next year

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Riku Murai @rmurai0610.bsky.social · 16/12/2024

For more please visit: Website: edexheim.github.io/mast3r-slam/ Video: youtu.be/wozt71NBFTQ

youtu.be

MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors

YouTube video by Riku Murai

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Riku Murai @rmurai0610.bsky.social · 16/12/2024

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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Riku Murai @rmurai0610.bsky.social · 16/12/2024

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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Riku Murai @rmurai0610.bsky.social · 16/12/2024

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 @ericdexheimer.bsky.social* @ajdavison.bsky.social (*Equal Contribution)

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