Authors

Masoud Ataei

Publications 2

Preprint Open access

ForVis: An In-Field Dataset and Benchmark for VIO Using Under-Canopy UAV Flights in Forests

Arman Kiani, Masoud Ataei, Elvis Gyaase et al. · 2026

Visual-inertial Simultaneous Localization and Mapping (VI-SLAM) for UAVs remains difficult to evaluate in real forest environments, where motion, illumination changes, repetitive vegetation, and vibration can all affect estimation. We present ForVis, an in-field dataset and benchmark for evaluating VI-SLAM during UAV f …

Preprint Open access

SE(3) Neural Potential Fields for 6-DoF Trajectory Planning Directly from Images Without Explicit 3D Reconstruction

Jeffrey Eiyike, Masoud Ataei, Elvis Gyaase et al. · 2026

Reaching a 6-DoF grasp pose in clutter requires a collision-free trajectory, conventionally obtained by reconstructing the scene in 3D and planning inside that reconstruction, at the cost of its accuracy and compute. Potential fields learned directly from images remove that dependency but inherit the classical weakness …

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