Ethan Yifu Tao 陶奕甫

Robotics and Comptuer Vision, University of Oxford

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I am a Postdoctoral Researcher in the Dynamic Robot System Group (DRS) of the Oxford Robotics Institute (ORI), University of Oxford, supervised by Prof. Maurice Fallon. I am generally interested in robot perception and navigation.

I completed my DPhil thesis in 2025, conducted also in DRS. During my DPhil, I worked on dense 3D reconstruction using both vision and LiDAR. Prior to my DPhil, I finished my undergraduate study in Engineering Science also at the University of Oxford with a MEng degree at 2020. For my master’s thesis, I worked on human body 3D reconstruction supervised by Prof. Philip Torr.

News

Mar 26, 2025 Oxford Spires Dataset conditionally aceepted to IJRR. This work connects SLAM research with NeRF/3DGS is released. TLS ground truth 3D map, colour cameras, lidar, all in one.
Mar 03, 2025 I submitted my DPhil thesis.
Jan 05, 2024 Invited talks at CVMI Lab and MARS Lab at Hong Kong University.
Dec 24, 2023 I was on the BBC! This post summarises our conversation on forest mapping research.

Publications

  1. silvr_tro.jpg
    SiLVR: Scalable Lidar-Visual Radiance Field Reconstruction with Uncertainty Quantification
    Yifu Tao, and Maurice Fallon
    arXiv preprint, 2025
  2. oxford_spires.jpg
    The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methods
    Yifu Tao, Miguel Ángel Muñoz-Bañón , Lintong Zhang , Jiahao Wang , Lanke Frank Tarimo Fu , and Maurice Fallon
    International Journal of Robotics Research (IJRR), Conditionally Accepted, 2025
  3. render_loc.png
    Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representations
    Lintong Zhang , Yifu Tao, Jiarong Lin , Fu Zhang , and Maurice Fallon
    arXiv preprint, 2024
  4. silvr.png
    SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection
    Yifu Tao, Yash Bhalgat , Lanke Frank Tarimo Fu , Matias Mattamala , Nived Chebrolu , and Maurice Fallon
    In IEEE International Conference on Robotics and Automation (ICRA) , 2024
  5. osprey_flight.jpg
    Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning
    Rowan Border , Nived Chebrolu , Yifu Tao, Jonathan D. Gammell , and Maurice Fallon
    IEEE Transactions on Field Robotics, 2024
  6. pdc.png
    3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation
    Yifu Tao, Marija Popović , Yiduo Wang , Sundara Tejaswi Digumarti , Nived Chebrolu , and Maurice Fallon
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2022