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Philippos Mordohai

13 accepted papers

2026

Mapping Pamir: Multi-Session Visual/Inertial SLAM and 3D Reconstruction of an Underwater Shipwreck

Michalis Chatzispyrou, Luke Horgan, Hyunkil Hwang, Harish Sathishchandra, Chinmay Burgul, Monika Roznere +3
ICRA 2026poster

This paper presents a framework for multi-session mapping of underwater environments utilizing an affordable action camera. The Visual-Inertial data are augmented by water depth recordings from a dive computer. SVIn2, an open-source VI-SLAM framework is utilized to generate a trajectory and a sparse…

Cited by 0Scholar ↗
2025

Consensus-Driven Uncertainty for Robotic Grasping based on RGB Perception

Eric C. Joyce, Qianwen Zhao, Nathaniel Burgdorfer, Long Wang, Philippos Mordohai
IROS 2025

Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high uncertainty. Even though object pose estimation improves and u

Cited by 1Source ↗code ↗Scholar ↗
2025

Understanding while Exploring: Semantics-driven Active Mapping

Liyan Chen, Huangying Zhan, Hairong Yin, Yi Xu, Philippos Mordohai
NeurIPS 2025poster

Effective robotic autonomy in unknown environments demands proactive exploration and precise understanding of both geometry and semantics. In this paper, we propose ActiveSGM, an active semantic mapping framework designed to predict the informativeness of potential observations before execution. Bui…

Cited by 0Source ↗Scholar ↗
2024

Stereo-NEC: Enhancing Stereo Visual-Inertial SLAM Initialization with Normal Epipolar Constraints

Weihan Wang, Chieh Chou, Ganesh Sevagamoorthy, Kevin Chen, Zheng Chen, Ziyue Feng +4
ICRA 2024poster

We propose an accurate and robust initialization approach for stereo visual-inertial SLAM systems. Unlike the current state-of-the-art method, which heavily relies on the accuracy of a pure visual SLAM system to estimate inertial variables without updating camera poses, potentially compromising accu…

Cited by 10Source ↗code ↗Scholar ↗
2023

3-D Reconstruction Using Monocular Camera and Lights: Multi-View Photometric Stereo for Non-Stationary Robots

Monika Roznere, Philippos Mordohai, Ioannis Rekleitis, Alberto Quattrini Li
ICRA 2023poster

This paper proposes a novel underwater Multi-View Photometric Stereo (MVPS) framework for reconstructing scenes in 3-D with a non-stationary low-cost robot equipped with a monocular camera and fixed lights. The underwater realm is the primary focus of study here, due to the challenges in utilizing u…

Cited by 3Source ↗Scholar ↗
2023

EDI: ESKF-based Disjoint Initialization for Visual-Inertial SLAM Systems

Weihan Wang, Jiani Li, Yuhang Ming, Philippos Mordohai
IROS 2023poster

Visual-inertial initialization can be classified into joint and disjoint approaches. Joint approaches tackle both the visual and the inertial parameters together by aligning observations from feature-bearing points based on IMU integration then use a closed-form solution with visual and acceleration…

Cited by 9Source ↗Scholar ↗
2023

Learning the Distribution of Errors in Stereo Matching for Joint Disparity and Uncertainty Estimation

Liyan Chen, Weihan Wang, Philippos Mordohai
CVPR 2023poster

We present a new loss function for joint disparity and uncertainty estimation in deep stereo matching. Our work is motivated by the need for precise uncertainty estimates and the observation that multi-task learning often leads to improved performance in all tasks. We show that this can be achieved…

Cited by 40Source ↗PDF ↗code ↗Scholar ↗
2020

NBVC: A Benchmark for Depth Estimation from Narrow-Baseline Video Clips

Philippos Mordohai, Konstantinos Batsos, Ameesh Makadia, Noah Snavely
IROS 2020poster

We present a benchmark for online, video-based depth estimation, a problem that is not covered by the current set of benchmarks for evaluating 3D reconstruction, which focus on offline, batch reconstruction. Online depth estimation from video captured by a moving camera is a key enabling technology…

Cited by 2Source ↗Scholar ↗
2018

CBMV: A Coalesced Bidirectional Matching Volume for Disparity Estimation

Konstantinos Batsos, Changjiang Cai, Philippos Mordohai
CVPR 2018poster

Recently, there has been a paradigm shift in stereo matching with learning-based methods achieving the best results on all popular benchmarks. The success of these methods is due to the availability of training data with ground truth; training learning-based systems on these datasets has allowed the…

Cited by 76Source ↗PDF ↗code ↗Scholar ↗
2016

An egocentric computer vision based co-robot wheelchair

Haoxiang Li, Mohammed Kutbi, Xin Li, Changjiang Cai, Philippos Mordohai, Gang Hua
IROS 2016poster

Motivated by the emerging needs to improve the quality of life for the elderly and disabled individuals who rely on wheelchairs for mobility, and who might have limited or no hand functionality at all, we propose an egocentric computer vision based co-robot wheelchair to enhance their mobility witho…

Cited by 19Source ↗Scholar ↗
2015

Exact Bias Correction and Covariance Estimation for Stereo Vision

Charles Freundlich, Michael Zavlanos, Philippos Mordohai
CVPR 2015poster

We present an approach for correcting the bias in 3D reconstruction of points imaged by a calibrated stereo rig. Our analysis is based on the observation that, due to quantization error, a 3D point reconstructed by triangulation essentially represents an entire region in space. The true location of…

Cited by 20Source ↗PDF ↗Scholar ↗