I am Yan Song (Kevin) Hu, a Master’s candidate in Systems Design Engineering at the University of Waterloo. I hold a Bachelor’s degree in Mechatronics Engineering from the University of McMaster with minors in mathematics and business. Under the supervision of Professor John Zelek, my research combines 3D Gaussian Splatting (3DGS) and Simultaneous Localization and Mapping (SLAM) in order to further the Spatial AI field.

My most major contribution is the development of a novel volumetric dense SLAM system that harness the synergy between the photometric SLAM system Direct Sparse Odometry (DSO) and 3DGS, thereby achieving a combination of speed, map quality, and memory efficiency unmatched by other dense SLAM systems. This innovative SLAM system is currently under review for the 2025 IEEE International Conference on Robotics and Automation (ICRA).

Email: y324hu@uwaterloo.ca

Site: https://yansonghu-lele.github.io/

Demonstration of my Dense SLAM System

Short GIFs of my dense SLAM system working live on the Replica and EUROC MAV datasets

Simultaneous Localization and Mapping (SLAM)
Spatial AI