Publications

2025

1. 

   SiLVR: Scalable Lidar-Visual Radiance Field Reconstruction with Uncertainty Quantification

   Yifu Tao, and Maurice Fallon

   arXiv preprint, 2025

   arXiv Bib Youtube Website

   @article{tao2025silvr,
     title = {{SiLVR}: Scalable Lidar-Visual Radiance Field Reconstruction with Uncertainty Quantification},
     author = {Tao, Yifu and Fallon, Maurice},
     year = {2025},
     journal = {arXiv preprint},
   }

2. 

   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

   arXiv Bib Youtube bilibili Website

   @article{tao2025spires,
     title = {The {Oxford Spires} Dataset: Benchmarking Large-Scale {LiDAR}-Visual Localisation, Reconstruction and Radiance Field Methods},
     author = {Tao, Yifu and Mu{\~n}oz-Ba{\~n}{\'o}n, Miguel {\'A}ngel and Zhang, Lintong and Wang, Jiahao and Fu, Lanke Frank Tarimo and Fallon, Maurice},
     year = {2025},
     journal = {International Journal of Robotics Research (IJRR), Conditionally Accepted},
   }

2024

1. 

   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

   arXiv Bib Youtube

   @article{zhang2024renderloc,
     title = {Visual Localization in {3D} Maps: Comparing Point Cloud, Mesh, and {NeRF} Representations},
     author = {Zhang, Lintong and Tao, Yifu and Lin, Jiarong and Zhang, Fu and Fallon, Maurice},
     year = {2024},
     journal = {arXiv preprint},
   }

2. 

   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},
   }

3. 

   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

   arXiv Bib Youtube

   @article{border2024osprey,
     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 = {2024},
     journal = {{IEEE} Transactions on Field Robotics},
   }

2022

1. 

   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 bilibili

   @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},
   }