Pui Yi Chui — accepted AI-conference papers

2026

GeVI-SLAM: Gravity-Enhanced Stereo VI SLAM for Underwater Robots

Yuan Shen, Yuze Hong, Guangyang Zeng, Tengfei Zhang, Pui Yi Chui, Ziyang Hong +1

ICRA 2026poster

Accurate visual–inertial simultaneous localization and mapping (VI SLAM) for underwater robots remains a significant challenge due to frequent visual degeneracy and insufficient inertial measurement unit (IMU) motion excitation. In this paper, we present GeVI-SLAM, a gravity-enhanced stereo VI SLAM …

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2026

SonarSweep: Fusing Sonar and Vision for Robust 3D Reconstruction Via Plane Sweeping

Lingpeng Chen, Jiakun Tang, Pui Yi Chui, Junfeng Wu, Ziyang Hong

ICRA 2026poster

Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due to poor visibility and geometric constraints, while sonar is crippled by inherent elevation ambiguity and low resolution.…

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