Investigated map generation using MASt3R-SLAM and, upon identifying compatibility constraints, developed an alternative COLMAP-based reconstruction pipeline. Built and evaluated a COLMAP-to-NeRF-to-mesh pipeline using Nerfstudio for surface refinement, and assessed reconstruction robustness across multiple object types including a fire hydrant and an oil canister. Responsible for the NeRF-based refinement pipeline and comparative object evaluation.