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

Research

	KV-Tracker: Real-Time Pose Tracking with Transformers Marwan Taher, Ignacio Alzugaray, Kirill Mazur, Xin Kong, Andrew J. Davison IEEE / CVF Computer Vision and Pattern Recognition Conference (CVPR), 2026 project page / video / paper
	4D Primitive-Mâché: Glueing Primitives for Persistent 4D Scene Reconstruction Kirill Mazur, Marwan Taher, Andrew J. Davison IEEE / CVF Computer Vision and Pattern Recognition Conference (CVPR), 2026 project page / video / arXiv
	ACE-SLAM: Scene Coordinate Regression for Real-Time SLAM Ignacio Alzugaray, Marwan Taher, Andrew J. Davison arXiv, 2025 project page / video / arXiv
	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 / video / arXiv
	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 / arXiv
	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 / video / arXiv
	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

Other Projects

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.