Ethan Yifu Tao 陶奕甫

I am a DPhil student in the Dynamic Robot System Group of the Oxford Robotics Institute, University of Oxford, supervised by Prof. Maurice Fallon from 2020. I am interested in large-scale 3D reconstruction using both vision and depth-sensing devices such as 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

Jan 29, 2024	SiLVR was accepted at ICRA 2024!
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

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

arXiv Bib Youtube bilibili Website

@inproceedings{tao2024silvr,
  title = {SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection},
  author = {Tao, Yifu and Bhalgat, Yash and Fu, Lanke Frank Tarimo and Mattamala, Matias and Chebrolu, Nived and Fallon, Maurice},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2024},
}

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

2023

arXiv Bib Youtube

@misc{border2023osprey,
  title = {Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning},
  author = {Border, Rowan and Chebrolu, Nived and Tao, Yifu and Gammell, Jonathan D. and Fallon, Maurice},
  year = {2023},
  eprint = {2311.03484},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
}

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

arXiv Bib Youtube

@inproceedings{tao2022pdc,
  title = {3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation},
  author = {Tao, Yifu and Popovi{\'c}, Marija and Wang, Yiduo and Digumarti, Sundara Tejaswi and Chebrolu, Nived and Fallon, Maurice},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {5339--5346},
  year = {2022},
  organization = {IEEE},
}