https://bavanthau.github.io/ 2026-09-29 1.0 https://bavanthau.github.io/media/images/mx-indoor-rgb-769.jpg https://bavanthau.github.io/media/images/mx-indoor-depth-769.jpg https://bavanthau.github.io/media/images/mx-indoor-semantics-769.jpg https://bavanthau.github.io/media/images/drone-angle-1600.jpg https://bavanthau.github.io/media/images/portrait-1254.jpg https://bavanthau.github.io/media/video/itc-loop-poster.jpg https://bavanthau.github.io/media/video/icra26-poster.jpg https://bavanthau.github.io/media/video/humanoid-deployment-poster.jpg https://bavanthau.github.io/media/video/scope-explorer-poster.jpg https://bavanthau.github.io/media/video/drone-flight-poster.jpg https://bavanthau.github.io/media/video/humanoid-deployment-poster.jpg Service humanoids running autonomously on the Exness stand in Dubai, navigating a floor full of Two branded humanoid service robots driving themselves across the floor of a busy exhibition stand, moving among standing visitors and around furniture. https://bavanthau.github.io/media/video/humanoid-deployment.mp4 32 2026-08-18 yes no https://bavanthau.github.io/media/video/scope-explorer-poster.jpg Autonomous exploration in simulation Simulated indoor exploration run showing the robot's occupancy map growing as it selects routes through the environment. https://bavanthau.github.io/media/video/scope-explorer.mp4 60 2026-08-18 yes no https://bavanthau.github.io/media/video/drone-flight-poster.jpg Take-off and a pass down the corridor The custom quadrotor lifting off from the floor of an indoor walkway and flying down it towards the camera, past timber and glass balconies. https://bavanthau.github.io/media/video/drone-flight.mp4 7 2026-08-18 yes no https://bavanthau.github.io/contact/ 2026-09-29 0.8 https://bavanthau.github.io/media/images/portrait-1254.jpg https://bavanthau.github.io/cv/ 2026-09-29 0.8 https://bavanthau.github.io/media/images/portrait-1254.jpg https://bavanthau.github.io/media/video/icra26-poster.jpg https://bavanthau.github.io/media/video/humanoid-deployment-poster.jpg https://bavanthau.github.io/media/video/peradeniya-2017-poster.jpg https://bavanthau.github.io/media/video/stairs-zupt-poster.jpg https://bavanthau.github.io/media/video/drone-flight-poster.jpg https://bavanthau.github.io/media/video/scope-explorer-poster.jpg https://bavanthau.github.io/media/video/humanoid-mapping-poster.jpg https://bavanthau.github.io/media/video/stairs-zupt-poster.jpg Depth-backed visual-inertial odometry on the drone's Jetson, walked down and back up the stairs at Screen recording on the drone's Jetson. An rviz window shows predicted depth, tracked features, and predicted semantics down the left, and the estimated trajectory climbing a stairwell in the centre, labelled MOVING while the drone is in motion and ZUPT STATIONARY while it is still. https://bavanthau.github.io/media/video/stairs-zupt.mp4 94 2026-08-18 yes no https://bavanthau.github.io/media/video/drone-flight-poster.jpg Take-off and a pass down the corridor The custom quadrotor lifting off from the floor of an indoor walkway and flying down it towards the camera, past timber and glass balconies. https://bavanthau.github.io/media/video/drone-flight.mp4 7 2026-08-18 yes no https://bavanthau.github.io/media/video/scope-explorer-poster.jpg Autonomous exploration in simulation Simulated indoor exploration run showing the robot's occupancy map growing as it selects routes through the environment. https://bavanthau.github.io/media/video/scope-explorer.mp4 60 2026-08-18 yes no https://bavanthau.github.io/media/video/humanoid-deployment-poster.jpg Service humanoids running autonomously on the Exness stand in Dubai, navigating a floor full of Two branded humanoid service robots driving themselves across the floor of a busy exhibition stand, moving among standing visitors and around furniture. https://bavanthau.github.io/media/video/humanoid-deployment.mp4 32 2026-08-18 yes no https://bavanthau.github.io/media/video/humanoid-mapping-poster.jpg The map behind it A laptop beside one of the humanoid robots, showing a 2D occupancy grid of the venue being filled in as the robot drives, with the robot's pose marked in red. https://bavanthau.github.io/media/video/humanoid-mapping.mp4 32 2026-08-18 yes no https://bavanthau.github.io/projects/ 2026-09-29 0.8 https://bavanthau.github.io/media/images/mx-indoor-rgb-769.jpg https://bavanthau.github.io/media/images/mx-indoor-depth-769.jpg https://bavanthau.github.io/media/images/mx-indoor-semantics-769.jpg https://bavanthau.github.io/media/images/drone-top-1600.jpg https://bavanthau.github.io/media/video/itc-loop-poster.jpg https://bavanthau.github.io/media/video/scope-explorer-poster.jpg https://bavanthau.github.io/media/video/humanoid-deployment-poster.jpg https://bavanthau.github.io/media/video/humanoid-mapping-poster.jpg https://bavanthau.github.io/media/video/peradeniya-2017-poster.jpg https://bavanthau.github.io/media/video/scope-explorer-poster.jpg Autonomous exploration in simulation Simulated indoor exploration run showing the robot's occupancy map growing as it selects routes through the environment. https://bavanthau.github.io/media/video/scope-explorer.mp4 60 2026-08-18 yes no https://bavanthau.github.io/media/video/humanoid-deployment-poster.jpg Service humanoids running autonomously on the Exness stand in Dubai, navigating a floor full of Two branded humanoid service robots driving themselves across the floor of a busy exhibition stand, moving among standing visitors and around furniture. https://bavanthau.github.io/media/video/humanoid-deployment.mp4 32 2026-08-18 yes no https://bavanthau.github.io/media/video/humanoid-mapping-poster.jpg The map behind it A laptop beside one of the humanoid robots, showing a 2D occupancy grid of the venue being filled in as the robot drives, with the robot's pose marked in red. https://bavanthau.github.io/media/video/humanoid-mapping.mp4 32 2026-08-18 yes no https://bavanthau.github.io/projects/commercial-navigation/ 2026-09-29 0.6 https://bavanthau.github.io/media/video/humanoid-deployment-poster.jpg https://bavanthau.github.io/media/video/humanoid-mapping-poster.jpg https://bavanthau.github.io/media/video/humanoid-deployment-poster.jpg Service humanoids running autonomously on the Exness stand in Dubai, navigating a floor full of Two branded humanoid service robots driving themselves across the floor of a busy exhibition stand, moving among standing visitors and around furniture. https://bavanthau.github.io/media/video/humanoid-deployment.mp4 32 2026-08-18 yes no https://bavanthau.github.io/media/video/humanoid-mapping-poster.jpg The map behind it A laptop beside one of the humanoid robots, showing a 2D occupancy grid of the venue being filled in as the robot drives, with the robot's pose marked in red. https://bavanthau.github.io/media/video/humanoid-mapping.mp4 32 2026-08-18 yes no https://bavanthau.github.io/projects/learned-exploration/ 2026-09-29 0.6 https://bavanthau.github.io/media/video/scope-explorer-poster.jpg https://bavanthau.github.io/media/video/scope-explorer-poster.jpg Autonomous exploration in simulation Simulated indoor exploration run showing the robot's occupancy map growing as it selects routes through the environment. https://bavanthau.github.io/media/video/scope-explorer.mp4 60 2026-08-18 yes no https://bavanthau.github.io/projects/m2h/ 2026-09-29 0.6 https://bavanthau.github.io/media/images/wipe-rgb-848.jpg https://bavanthau.github.io/media/images/wipe-depth-848.jpg https://bavanthau.github.io/media/images/wipe-semantics-848.jpg https://bavanthau.github.io/media/video/itc-loop-poster.jpg https://bavanthau.github.io/projects/m2h-mx/ 2026-09-29 0.6 https://bavanthau.github.io/media/images/mx-indoor-rgb-769.jpg https://bavanthau.github.io/media/images/mx-indoor-depth-769.jpg https://bavanthau.github.io/media/images/mx-indoor-semantics-769.jpg https://bavanthau.github.io/media/images/mx-outdoor-rgb-1472.jpg https://bavanthau.github.io/media/images/mx-outdoor-depth-1472.jpg https://bavanthau.github.io/media/images/mx-outdoor-semantics-1472.jpg https://bavanthau.github.io/media/images/m2h-mx-architecture-1600.jpg https://bavanthau.github.io/media/video/icra26-poster.jpg https://bavanthau.github.io/projects/mono-hydra/ 2026-09-29 0.6 https://bavanthau.github.io/media/images/scenegraph-system-design-1354.jpg https://bavanthau.github.io/projects/mono-hydra-plus/ 2026-09-29 0.6 https://bavanthau.github.io/media/images/pipeline-overview-1600.jpg https://bavanthau.github.io/media/images/drone-top-1600.jpg https://bavanthau.github.io/media/images/pipeline-temporal-1600.jpg https://bavanthau.github.io/media/images/pipeline-sampling-1536.jpg https://bavanthau.github.io/media/images/pipeline-geometry-1600.jpg https://bavanthau.github.io/media/images/drone-side-1600.jpg https://bavanthau.github.io/media/images/drone-angle-1600.jpg https://bavanthau.github.io/media/images/scene-graph-itc-1600.jpg https://bavanthau.github.io/media/images/itc-embedded-1600.jpg https://bavanthau.github.io/media/video/drone-flight-poster.jpg https://bavanthau.github.io/media/video/stairs-zupt-poster.jpg https://bavanthau.github.io/media/video/drone-flight-poster.jpg Take-off and a pass down the corridor The custom quadrotor lifting off from the floor of an indoor walkway and flying down it towards the camera, past timber and glass balconies. https://bavanthau.github.io/media/video/drone-flight.mp4 7 2026-08-18 yes no https://bavanthau.github.io/media/video/stairs-zupt-poster.jpg Depth-backed visual-inertial odometry on the drone's Jetson, walked down and back up the stairs at Screen recording on the drone's Jetson. An rviz window shows predicted depth, tracked features, and predicted semantics down the left, and the estimated trajectory climbing a stairwell in the centre, labelled MOVING while the drone is in motion and ZUPT STATIONARY while it is still. https://bavanthau.github.io/media/video/stairs-zupt.mp4 94 2026-08-18 yes no https://bavanthau.github.io/publications/ 2026-09-29 0.8 https://bavanthau.github.io/media/images/scene-graph-itc-1600.jpg https://bavanthau.github.io/media/images/m2h-mx-architecture-1600.jpg https://bavanthau.github.io/media/video/itc-loop-poster.jpg https://bavanthau.github.io/media/images/scenegraph-system-design-1354.jpg https://bavanthau.github.io/publications/bibtex/ 2026-09-29 0.6 https://bavanthau.github.io/publications/m2h/ 2026-09-29 0.6 https://bavanthau.github.io/media/images/wipe-rgb-848.jpg https://bavanthau.github.io/media/images/wipe-depth-848.jpg https://bavanthau.github.io/media/images/wipe-semantics-848.jpg https://bavanthau.github.io/media/video/itc-loop-poster.jpg https://bavanthau.github.io/publications/m2h-mx/ 2026-09-29 0.6 https://bavanthau.github.io/media/images/mx-indoor-rgb-769.jpg https://bavanthau.github.io/media/images/mx-indoor-depth-769.jpg https://bavanthau.github.io/media/images/mx-indoor-semantics-769.jpg https://bavanthau.github.io/media/images/mx-outdoor-rgb-1472.jpg https://bavanthau.github.io/media/images/mx-outdoor-depth-1472.jpg https://bavanthau.github.io/media/images/mx-outdoor-semantics-1472.jpg https://bavanthau.github.io/media/images/m2h-mx-architecture-1600.jpg https://bavanthau.github.io/media/images/m2h-mx-rgm-933.jpg https://bavanthau.github.io/media/images/m2h-mx-ctm-msca-1140.jpg https://bavanthau.github.io/media/video/icra26-poster.jpg https://bavanthau.github.io/publications/mono-hydra/ 2026-09-29 0.6 https://bavanthau.github.io/media/images/scenegraph-system-design-1354.jpg https://bavanthau.github.io/media/images/scene-graph-itc-1600.jpg https://bavanthau.github.io/publications/mono-hydra-plus/ 2026-09-29 0.6 https://bavanthau.github.io/media/images/pipeline-overview-1600.jpg https://bavanthau.github.io/media/images/pipeline-temporal-1600.jpg https://bavanthau.github.io/media/images/pipeline-sampling-1536.jpg https://bavanthau.github.io/media/images/pipeline-geometry-1600.jpg https://bavanthau.github.io/media/images/uhumans2-loop-1600.jpg https://bavanthau.github.io/media/images/scannet-radius-1600.jpg https://bavanthau.github.io/media/images/scannet-failure-1600.jpg https://bavanthau.github.io/media/video/stairs-zupt-poster.jpg https://bavanthau.github.io/media/video/stairs-zupt-poster.jpg Depth-backed visual-inertial odometry on the drone's Jetson, walked down and back up the stairs at Screen recording on the drone's Jetson. An rviz window shows predicted depth, tracked features, and predicted semantics down the left, and the estimated trajectory climbing a stairwell in the centre, labelled MOVING while the drone is in motion and ZUPT STATIONARY while it is still. https://bavanthau.github.io/media/video/stairs-zupt.mp4 94 2026-08-18 yes no https://bavanthau.github.io/research/ 2026-09-29 0.8 https://bavanthau.github.io/media/images/scenegraph-explained-1122.jpg https://bavanthau.github.io/media/images/scene-graph-itc-1600.jpg https://bavanthau.github.io/media/images/perception-pipeline-1600.jpg https://bavanthau.github.io/media/video/peradeniya-2017-poster.jpg https://bavanthau.github.io/videos/lidar-exploration-mapping-peradeniya/ 2026-09-29 0.6 https://bavanthau.github.io/media/video/peradeniya-2017-poster.jpg https://bavanthau.github.io/media/video/peradeniya-2017-poster.jpg A reconnaissance robot explores and maps a maze it has never seen The undergraduate project video for the 2017 Peradeniya reconnaissance robot: a holonomic platform with a laser range finder and stereo cameras explores an unknown plywood maze, builds the occupancy map as it goes, and reconstructs the space in 3D. Project video for the 2017 Peradeniya reconnaissance robot. A holonomic robot carrying a laser range finder and stereo cameras drives itself through a plywood maze while an inset occupancy map of the maze fills in, and the three student developers are named on camera beside their parts of the system. https://bavanthau.github.io/media/video/peradeniya-2017.mp4 184 2026-09-06 yes no https://bavanthau.github.io/videos/monocular-3d-scene-graph-scannet/ 2026-09-29 0.6 https://bavanthau.github.io/media/video/icra26-poster.jpg https://bavanthau.github.io/media/video/icra26-poster.jpg A 3D scene graph built live from one RGB camera, ScanNet scene 0000 M2H-MX predicts depth and semantics from a single RGB stream while Mono-Hydra++ builds a hierarchical 3D scene graph of ScanNet scene 0000 in real time. Screen recording of ScanNet scene 0000. A hierarchical 3D scene graph hangs from a building node down through room and place nodes to labelled object boxes over the reconstructed mesh, while the RGB frame, the predicted semantics, and the predicted depth run down the right. https://bavanthau.github.io/media/video/icra26.mp4 10 2026-08-18 yes no https://bavanthau.github.io/videos/scene-graph-drone-corridor-loop/ 2026-09-29 0.6 https://bavanthau.github.io/media/video/itc-loop-poster.jpg https://bavanthau.github.io/media/video/itc-loop-poster.jpg A drone flies one corridor loop and the 3D scene graph builds itself M2H with Mono-Hydra builds a hierarchical 3D scene graph from one camera and an IMU while a drone flies a loop of the ITC building second floor. Screen recording of the scene graph being built while the drone flies the ITC second floor loop. The graph grows from nothing to a full corridor circuit, with live RGB, semantic, and depth views alongside. https://bavanthau.github.io/media/video/itc-loop.mp4 42 2026-08-18 yes no