Ali Tourani — accepted AI-conference papers

2026

BIM-Informed Visual SLAM for Construction Monitoring

Asier Bikandi-Noya, Miguel Fernandez-Cortizas, Muhammad Shaheer, Ali Tourani, Holger Voos, Jose Luis Sanchez-Lopez

ICRA 2026poster

Monitoring construction sites requires comparing the as-planned design with the as-built state in real time. Visual SLAM offers a lightweight solution but is prone to trajectory drift in construction environments due to repetitive layouts, textureless surfaces, and occlusions. We augment an existing…

Cited by 0 Scholar ↗

2026

VS-Graphs: Environment-Aware 3D Scene Graphs for Visual SLAM

Ali Tourani, Saad Ejaz, Miguel Fernandez-Cortizas, Jose Luis Sanchez-Lopez, Holger Voos

ICRA 2026poster

We introduce the latest achievements and results of Visual S-Graphs (vS-Graphs), our open-source, real-time VSLAM framework that tightly couples map reconstruction to online 3D scene graph generation. vS-Graphs employs visual and depth cues to detect and localize building components, such as walls a…

Cited by 0 code ↗Scholar ↗

2023

Marker-Based Visual SLAM Leveraging Hierarchical Representations

Ali Tourani, Hriday Bavle, Jose Luis Sanchez-Lopez, Rafael Muñoz Salinas, Holger Voos

IROS 2023poster

Fiducial markers can encode rich information about the environment and aid Visual SLAM (VSLAM) approaches in reconstructing maps with practical semantic information. Current marker-based VSLAM approaches mainly utilize markers for improving feature detections in low-feature environments and/or incor…

Cited by 12 Source ↗Scholar ↗