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06/26/2023
Visual Servoing on Wheels: Robust Robot Orientation Estimation in Remote Viewpoint Control
This work proposes a fast deployment pipeline for visually-servoed robot...
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06/21/2023
Off the Radar: Uncertainty-Aware Radar Place Recognition with Introspective Querying and Map Maintenance
Localisation with Frequency-Modulated Continuous-Wave (FMCW) radar has g...
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04/20/2023
Visual DNA: Representing and Comparing Images using Distributions of Neuron Activations
Selecting appropriate datasets is critical in modern computer vision. Ho...
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06/30/2022
BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR
This paper is about extremely robust and lightweight localisation using ...
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06/21/2022
What Goes Around: Leveraging a Constant-curvature Motion Constraint in Radar Odometry
This paper presents a method that leverages vehicle motion constraints t...
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03/07/2022
Depth-SIMS: Semi-Parametric Image and Depth Synthesis
In this paper we present a compositing image synthesis method that gener...
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03/01/2022
Fast-MbyM: Leveraging Translational Invariance of the Fourier Transform for Efficient and Accurate Radar Odometry
Masking By Moving (MByM), provides robust and accurate radar odometry me...
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10/06/2021
Contrastive Learning for Unsupervised Radar Place Recognition
We learn, in an unsupervised way, an embedding from sequences of radar i...
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06/16/2021
The Oxford Road Boundaries Dataset
In this paper we present the Oxford Road Boundaries Dataset, designed fo...
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06/12/2021
Unsupervised Place Recognition with Deep Embedding Learning over Radar Videos
We learn, in an unsupervised way, an embedding from sequences of radar i...
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03/01/2021
Fool Me Once: Robust Selective Segmentation via Out-of-Distribution Detection with Contrastive Learning
In this work, we train a network to simultaneously perform segmentation ...
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06/03/2020
Self-Supervised Localisation between Range Sensors and Overhead Imagery
Publicly available satellite imagery can be an ubiquitous, cheap, and po...
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05/11/2020
Keep off the Grass: Permissible Driving Routes from Radar with Weak Audio Supervision
Reliable outdoor deployment of mobile robots requires the robust identif...
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05/05/2020
Sense-Assess-eXplain (SAX): Building Trust in Autonomous Vehicles in Challenging Real-World Driving Scenarios
This paper discusses ongoing work in demonstrating research in mobile au...
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04/02/2020
RSS-Net: Weakly-Supervised Multi-Class Semantic Segmentation with FMCW Radar
This paper presents an efficient annotation procedure and an application...
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03/10/2020
Rainy screens: Collecting rainy datasets, indoors
Acquisition of data with adverse conditions in robotics is a cumbersome ...
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03/10/2020
LiDAR Lateral Localisation Despite Challenging Occlusion from Traffic
This paper presents a system for improving the robustness of LiDAR later...
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03/10/2020
Look Around You: Sequence-based Radar Place Recognition with Learned Rotational Invariance
This paper details an application which yields significant improvements ...
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02/24/2020
Real-time Kinematic Ground Truth for the Oxford RobotCar Dataset
We describe the release of reference data towards a challenging long-ter...
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01/26/2020
Kidnapped Radar: Topological Radar Localisation using Rotationally-Invariant Metric Learning
This paper presents a system for robust, large-scale topological localis...
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01/22/2020
Learning to Correct 3D Reconstructions from Multiple Views
This paper is about reducing the cost of building good large-scale 3D re...
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01/09/2020
RSL-Net: Localising in Satellite Images From a Radar on the Ground
This paper is about localising a vehicle in an overhead image using FMCW...
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09/08/2019
Learning Geometrically Consistent Mesh Corrections
Building good 3D maps is a challenging and expensive task, which require...
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09/03/2019
The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset
In this paper we present The Oxford Radar RobotCar Dataset, a new datase...
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07/25/2019
Don't Worry About the Weather: Unsupervised Condition-Dependent Domain Adaptation
Modern models that perform system-critical tasks such as segmentation an...
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07/11/2019
Online Inference and Detection of Curbs in Partially Occluded Scenes with Sparse LIDAR
Road boundaries, or curbs, provide autonomous vehicles with essential in...
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07/10/2019
Generating All the Roads to Rome: Road Layout Randomization for Improved Road Marking Segmentation
Road markings provide guidance to traffic participants and enforce safe ...
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05/17/2019
Training Object Detectors With Noisy Data
The availability of a large quantity of labelled training data is crucia...
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04/25/2019
Radar-only ego-motion estimation in difficult settings via graph matching
Radar detects stable, long-range objects under variable weather and ligh...
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01/30/2019
Distant Vehicle Detection Using Radar and Vision
For autonomous vehicles to be able to operate successfully they need to ...
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01/03/2019
Imminent Collision Mitigation with Reinforcement Learning and Vision
This work examines the role of reinforcement learning in reducing the se...
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01/03/2019
I Can See Clearly Now : Image Restoration via De-Raining
We present a method for improving segmentation tasks on images affected ...
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12/03/2018
The Right (Angled) Perspective: Improving the Understanding of Road Scenes using Boosted Inverse Perspective Mapping
Many tasks performed by autonomous vehicles such as road marking detecti...
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10/18/2018
Probably Unknown: Deep Inverse Sensor Modelling In Radar
Radar presents a promising alternative to lidar and vision in autonomous...
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10/11/2018
Listening for Sirens: Locating and Classifying Acoustic Alarms in City Scenes
This paper is about alerting acoustic event detection and sound source l...
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08/01/2018
Multimotion Visual Odometry (MVO): Simultaneous Estimation of Camera and Third-Party Motions
Estimating motion from images is a well-studied problem in computer visi...
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03/09/2018
Adversarial Training for Adverse Conditions: Robust Metric Localisation using Appearance Transfer
We present a method of improving visual place recognition and metric loc...
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02/23/2018
Surface Edge Explorer (SEE): Planning Next Best Views Directly from 3D Observations
Surveying 3D scenes is a common task in robotics. Systems can do so auto...
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01/27/2018
Meshed Up: Learnt Error Correction in 3D Reconstructions
Dense reconstructions often contain errors that prior work has so far mi...
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01/17/2018
The Data Market: Policies for Decentralised Visual Localisation
This paper presents a mercantile framework for the decentralised sharing...
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06/05/2017
Geometric Multi-Model Fitting with a Convex Relaxation Algorithm
We propose a novel method to fit and segment multi-structural data via c...
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04/13/2016