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Marwan Taher
Hi! I am a PhD student at the Dyson Robotics Lab supervised by Andrew J. Davison.
I am interested in scene representation and understanding for downstream robotic manipulation.
In 2021, I completed my MEng in Mechatronics and Robotics at The University of Sheffield, during which I worked on Long-term Outdoor
Mapping for my master’s dissertation. During my time at university and previously during high school I have been very active in competitive
robotics, participating in competitions such as MATE ROV.
Email /
CV /
Scholar /
Twitter /
LinkedIn /
Github
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KV-Tracker: Real-Time Pose Tracking with Transformers
Marwan Taher,
Ignacio Alzugaray,
Kirill Mazur,
Xin Kong,
Andrew J. Davison
preprint, 2025
project page
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video
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paper
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ACE-SLAM: Scene Coordinate Regression for Real-Time SLAM
Ignacio Alzugaray,
Marwan Taher,
Andrew J. Davison
arXiv, 2025
project page
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video
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arXiv
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Fit-NGP: Fitting Object Models to Neural Graphics Primitives
Marwan Taher,
Ignacio Alzugaray,
Andrew J. Davison
International Conference on Robotics and Automation (ICRA), 2024
project page
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video
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arXiv
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EscherNet: A Generative Model for Scalable View Synthesis
Xin Kong,
Shikun Liu,
Xiaoyang Lyu,
Marwan Taher,
Xiaojuan Qi,
Andrew J. Davison
IEEE / CVF Computer Vision and Pattern Recognition Conference (CVPR), 2024
project page
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arXiv
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vMAP: Vectorised Object Mapping for Neural Field SLAM
Xin Kong,
Shikun Liu,
Marwan Taher,
Andrew J. Davison
IEEE / CVF Computer Vision and Pattern Recognition Conference (CVPR), 2023
project page
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video
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arXiv
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Robust and long-term monocular teach and repeat navigation using a single-experience map
Li Sun,
Marwan Taher,
Christopher Wild, Cheng Zhao, Yu Zhang, Filip Majer, Zhi Yan, Tomáš Krajník, Tony Prescott, Tom Duckett
International Conference on Intelligent Robots and Systems (IROS), 2021
video
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MATE ROV Competition
2016-2019
Co-founded a university underwater robotics team to participate in the MATE ROV competition. Worked on the full robotics stacks
from designing and manufacturing mechanical parts, to electronics and PCB design, to control systems and computer vision.
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