Publications

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Every entry, as plain text. The Mono-Hydra++ entry is marked unpublished because it is under review.

Mono-Hydra++: Real-Time Monocular Scene Graph Construction with Multi-Task Learning for 3D Indoor Mapping

Under review at ISPRS Journal of Photogrammetry and Remote Sensing

@unpublished{udugama2026monohydrapp,
  title        = {Mono-Hydra++: Real-Time Monocular Scene Graph Construction with Multi-Task Learning for 3D Indoor Mapping},
  author       = {Udugama, U. V. B. L. and Vosselman, George and Nex, Francesco},
  note         = {Under review, ISPRS Journal of Photogrammetry and Remote Sensing, manuscript PHOTO-S-26-02536},
  eprint       = {2605.17661},
  archivePrefix= {arXiv},
  year         = {2026}
}

M2H-MX: Multi-Task Semantic and Geometric Perception for Real-Time Monocular 3D Scene Graph Construction

Accepted, ICRA 2026 SRRA Workshop

@inproceedings{udugama2026m2hmx,
  title     = {M2H-MX: Multi-Task Semantic and Geometric Perception for Real-Time Monocular 3D Scene Graph Construction},
  author    = {Udugama, U. V. B. L. and Vosselman, George and Nex, Francesco},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA), SRRA Workshop},
  year      = {2026},
  doi       = {10.48550/arXiv.2603.29236}
}

M2H: Multi-Task Learning with Efficient Window-Based Cross-Task Attention for Monocular Spatial Perception

Published, IEEE/RSJ IROS 2025

@inproceedings{udugama2025m2h,
  title     = {M2H: Multi-Task Learning with Efficient Window-Based Cross-Task Attention for Monocular Spatial Perception},
  author    = {Udugama, U. V. B. L. and Vosselman, George and Nex, Francesco},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year      = {2025},
  note      = {arXiv:2510.17363}
}

Mono-Hydra: Real-Time 3D Scene Graph Construction from Monocular Camera Input with IMU

Published, ISPRS Annals 2023

@article{udugama2023monohydra,
  title   = {Mono-Hydra: Real-Time 3D Scene Graph Construction from Monocular Camera Input with IMU},
  author  = {Udugama, U. V. B. L. and Vosselman, G. and Nex, F.},
  journal = {ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
  volume  = {1},
  pages   = {439--445},
  year    = {2023}
}

Evolution of SLAM: Toward the Robust-Perception of Autonomy

@misc{udugama2023slamreview,
  title         = {Evolution of SLAM: Toward the Robust-Perception of Autonomy},
  author        = {Udugama, B.},
  year          = {2023},
  note          = {Written 2021},
  eprint        = {2302.06365},
  archivePrefix = {arXiv}
}

Review of Deep Reinforcement Learning for Autonomous Driving

@misc{udugama2023drlreview,
  title         = {Review of Deep Reinforcement Learning for Autonomous Driving},
  author        = {Udugama, B.},
  year          = {2023},
  note          = {Written 2021},
  eprint        = {2302.06370},
  archivePrefix = {arXiv}
}

Review on Efficient Strategies for Coordinated Motion and Tracking in Swarm Robotics

@misc{udugama2023swarmreview,
  title         = {Review on Efficient Strategies for Coordinated Motion and Tracking in Swarm Robotics},
  author        = {Udugama, B.},
  year          = {2023},
  note          = {Written 2021},
  eprint        = {2302.06360},
  archivePrefix = {arXiv}
}

Autonomous exploration planning strategy for a reconnaissance agent

@inproceedings{thelasingha2017exploration,
  title     = {Autonomous exploration planning strategy for a reconnaissance agent},
  author    = {Thelasingha, Nilanga and Ekanayake, Sachini and Udugama, Bavantha and Godaliyadda, G. M. R. I. and Ekanayake, M. P. B. and Samaranayake, B. G. L. T. and Wijayakulasooriya, J. V.},
  booktitle = {2017 IEEE International Conference on Industrial and Information Systems (ICIIS)},
  pages     = {1--6},
  year      = {2017},
  doi       = {10.1109/ICIINFS.2017.8300386}
}

Object Dimension Extraction for Environment Mapping with Low Cost Cameras Fused with Laser Ranging

@inproceedings{ekanayake2017objectdimension,
  title         = {Object Dimension Extraction for Environment Mapping with Low Cost Cameras Fused with Laser Ranging},
  author        = {Ekanayake, E. M. S. P. and Thelasingha, T. H. M. N. C. and Udugama, U. V. B. L. and Godaliyadda, G. M. R. I. and Ekanayake, M. P. B. and Samaranayake, B. G. L. T. and Wijayakulasooriya, J. V.},
  booktitle     = {24th Annual Technical Conference of the IET Sri Lanka Network},
  year          = {2017},
  eprint        = {2302.01387},
  archivePrefix = {arXiv}
}

Laser Ranging Based Intelligent System for Unknown Environment Mapping

@inproceedings{thelasingha2017laserranging,
  title     = {Laser Ranging Based Intelligent System for Unknown Environment Mapping},
  author    = {Thelasingha, T. H. M. N. C. and Udugama, U. V. B. L. and Ekanayake, E. M. S. P. and Godaliyadda, G. M. R. I. and Ekanayake, M. P. B. and Samaranayake, B. G. L. T. and Wijayakulasooriya, J. V.},
  booktitle = {Annual Sessions 2017, The Institution of Engineers Sri Lanka},
  year      = {2017}
}