arXiv subjects

Imad Elhajj

Publications and source records attributed to Imad Elhajj.

3 recordsLinked to original sources

arXiv2026

DSP-SLAM++: A Unified Framework for Multi-Class, High-Fidelity Object SLAM in the Wild

Existing object-aware SLAM systems force a trade-off between real-time performance, multi-class support, and the generation of high-fidelity, semantically coherent object models. To address this trade-off, we present DSP-SLAM++, which extends the DSP-SLAM framework with an asynchronous mapping pipeline for real-time performance and dedicated sensor fusion adaptations for a monocular fisheye-LiDAR suite. Experiments demonstrate that our system generates fine-grained, geometrically-complete shapes for multiple object classes while eliminating severe mapping thread bottlenecks by reducing maximum object processing latency by up to 70\% compared to the state-of-the-art baseline, enabling robust, real-time performance on a challenging 25 Hz multi-class datasets. This work makes high-fidelity, multi-class object SLAM more practical for real-world applications like autonomous driving and robotic manipulation by enabling its use on platforms with common fisheye-LiDAR sensor setups. The open-source code is available at: [github.com/AUBVRL/DSP-SLAMpp].

cs.RO↗

arXiv2025

MGSO: Monocular Real-time Photometric SLAM with Efficient 3D Gaussian Splatting

Real-time SLAM with dense 3D mapping is computationally challenging, especially on resource-limited devices. The recent development of 3D Gaussian Splatting (3DGS) offers a promising approach for real-time dense 3D reconstruction. However, existing 3DGS-based SLAM systems struggle to balance hardware simplicity, speed, and map quality. Most systems excel in one or two of the aforementioned aspects but rarely achieve all. A key issue is the difficulty of initializing 3D Gaussians while concurrently conducting SLAM. To address these challenges, we present Monocular GSO (MGSO), a novel real-time SLAM system that integrates photometric SLAM with 3DGS. Photometric SLAM provides dense structured point clouds for 3DGS initialization, accelerating optimization and producing more efficient maps with fewer Gaussians. As a result, experiments show that our system generates reconstructions with a balance of quality, memory efficiency, and speed that outperforms the state-of-the-art. Furthermore, our system achieves all results using RGB inputs. We evaluate the Replica, TUM-RGBD, and EuRoC datasets against current live dense reconstruction systems. Not only do we surpass contemporary systems, but experiments also show that we maintain our performance on laptop hardware, making it a practical solution for robotics, A/R, and other real-time applications.

cs.RO↗

arXiv2024

MaskUno: Switch-Split Block For Enhancing Instance Segmentation

Instance segmentation is an advanced form of image segmentation which, beyond traditional segmentation, requires identifying individual instances of repeating objects in a scene. Mask R-CNN is the most common architecture for instance segmentation, and improvements to this architecture include steps such as benefiting from bounding box refinements, adding semantics, or backbone enhancements. In all the proposed variations to date, the problem of competing kernels (each class aims to maximize its own accuracy) persists when models try to synchronously learn numerous classes. In this paper, we propose mitigating this problem by replacing mask prediction with a Switch-Split block that processes refined ROIs, classifies them, and assigns them to specialized mask predictors. We name the method MaskUno and test it on various models from the literature, which are then trained on multiple classes using the benchmark COCO dataset. An increase in the mean Average Precision (mAP) of 2.03% was observed for the high-performing DetectoRS when trained on 80 classes. MaskUno proved to enhance the mAP of instance segmentation models regardless of the number and typ

cs.CV↗