Reza Vafaee

2 accepted papers

2026

Non-Submodular Visual Attention for Robot Navigation

Reza Vafaee, Kian Behzad, Milad Siami, Luca Carlone, Ali Jadbabaie

ICRA 2026poster

This paper presents a task-oriented computational framework to enhance Visual-Inertial Navigation (VIN) in robots, addressing challenges such as limited time and energy resources. The framework strategically selects visual features using a Mean Square Error (MSE)-based, non-submodular objective func…

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2026

Streaming Loop-Closure Selection under Memory Constraints in Graph-SLAM

Reza Vafaee, Usman Khan

ICRA 2026poster

Graph-based SLAM models robot poses as vertices and relative-pose measurements (odometry and loop-closures) as edges. Odometry edges are always kept to preserve connectivity, while loop-closure edges reduce drift but cannot all be stored due to memory or computation limits. Our challenge is to decid…

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