Riku Murai (@rmurai0610) / X

Riku Murai

58 posts

Riku Murai

@rmurai0610

Robotics at The Bot Company | Former PostDoc, PhD at Imperial College London. Interested in SLAM and distributed optimisation.

Joined July 2018

Pinned
Riku Murai
@rmurai0610
Dec 16, 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 @eric_dexheimer*, @AjdDavison (*Equal Contribution)
00:00
204K
Riku Murai
@rmurai0610
Feb 25, 2025
MASt3R-SLAM code release! github.com/rmurai0610/MAS… Try it out on videos or with a live camera Work with @eric_dexheimer*, @AjdDavison (*Equal Contribution)
Riku Murai
@rmurai0610
Dec 16, 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 @eric_dexheimer*, @AjdDavison (*Equal Contribution)
00:00
GitHub - rmurai0610/MASt3R-SLAM: [CVPR 2025] MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruc...
From github.com
46K
Riku Murai
@rmurai0610
Oct 11, 2024
We'll be presenting "Distributed Simultaneous Localisation and Auto-Calibration using GBP" at #IROS2024 We show that distributed GBP can be effectively used to localise and auto-calibrate many robots. Please come to our presentation (Wed 17:30 Room 11) if you're around!
00:00
12K
Riku Murai
@rmurai0610
Feb 8, 2022
I'm very excited to share our new work: A Robot Web for Distributed Many-Device Localisation. Fully decentralised localisation of many robots at a large scale! @joeaortiz, @SaeediG, @paulhjkelly, @AjdDavison Paper: arxiv.org/abs/2202.03314
00:00
Riku Murai
@rmurai0610
Jul 11, 2024
I've passed my PhD viva! Thank you to my examiners @lucacarlone1 and Christos for all the great discussion, and to my supervisors @AjdDavison and @paulhjkelly for making my PhD journey fun and exciting!
7.9K
Riku Murai
@rmurai0610
Dec 16, 2024
Replying to @rmurai0610
For more please visit: Website: edexheim.github.io/mast3r-slam/ Video: youtu.be/wozt71NBFTQ
5.8K
Riku Murai
@rmurai0610
Dec 16, 2024
Replying to @rmurai0610
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.
00:00
6.3K
Riku Murai
@rmurai0610
Feb 28, 2024
Excited to share that Gaussian Splatting SLAM, a live monocular/RGB-D SLAM which maps and tracks against 3D Gaussians, has been accepted to #CVPR2024! Full Video: youtu.be/x604ghp9R_Q Project Page: rmurai.co.uk/projects/Gauss…
Hide
@HideMatsu82
Dec 11, 2023
Happy to share Gaussian Splatting SLAM rmurai.co.uk/projects/Gauss… We show the first 3DGS-based Monocular RGB SLAM, the hardest SLAM setting. Using 3D Gaussians as a unified representation, the method only requires RGB images - No need for SfM, depth sensor, or learned prior.
00:00
3.3K
Riku Murai
@rmurai0610
Dec 16, 2024
Replying to @rmurai0610
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.
00:00
5.7K
Riku Murai
@rmurai0610
Mar 4, 2024
Code release for Gaussian Splatting SLAM #CVPR2024 For all projects, I find interactive GUI to be essential for understanding/debugging, and most importantly it's fun to play with! Code: github.com/muskie82/MonoGS @HideMatsu82*, @paulhjkelly, @AjdDavison (*equal contribution)
Hide
@HideMatsu82
Mar 4, 2024
Code release of Gaussian Splatting SLAM! #CVPR2024 github.com/muskie82/MonoGS As of now, our method is the only Monocular SLAM solely based on 3DGS. No depth information needed. Work with @rmurai0610* @paulhjkelly @AjdDavison. (*Equal Contribution) Details in the thread:
00:00
GitHub - muskie82/MonoGS: [CVPR'24 Highlight & Best Demo Award] Gaussian Splatting SLAM
From github.com
2.9K
Riku Murai
@rmurai0610
Jul 3, 2020
I'm happy to share that our paper is accepted to #IROS2020! "BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane" @SaeediG @paulhjkelly Project Webpage: rmurai0610.github.io/BIT-VO Video: youtube.com/watch?v=tnPfbJ…
Riku Murai
@rmurai0610
Dec 9, 2023
I'm happy to share that Robot Web is now published in Transactions on Robotics! Our work is asynchronous and distributed, allowing new devices to join the web and seamlessly localise themselves. Videos, including with real robots here: rmurai.co.uk/projects/Robot…
Andrew Davison
@AjdDavison
Dec 9, 2023
Robot Web: distributed, asynchronous message-passing for simple, accurate multi-robot localisation, at last officially published in IEEE Transactions on Robotics. Towards the inter-operable robot future! For me maybe my most important work since MonoSLAM. ieeexplore.ieee.org/abstract/docum…
2.9K
Riku Murai
@rmurai0610
May 14, 2024
Today at #ICRA2024, I'm giving a talk on Robot Web at 13:30 in session CC-315 Multi-Robot Systems II. Also, with @HideMatsu82, we are doing a live demo of Gaussian Splatting SLAM at the Expo (Wed) and giving a spotlight talk at @robo_nerf (Fri). Hope to see you there!
1.7K
Riku Murai
@rmurai0610
Dec 16, 2024
Replying to @Nik__V__ @eric_dexheimer and @AjdDavison
Thanks Nikhil! We're planning on releasing the code early next year
2.1K