Discovering and Mapping Complete Surfaces With Stereo by Shade, R, Newman, P, IEEE

“…This paper is about the automated discovery and mapping of surfaces using a stereo pair. We begin with the observation that for any workspace which is topologically connected (i.e. does not contain free flying islands) there exists a single surface that covers the entirety of the workspace. …”

A constant-time efficient stereo SLAM system by Mei, C, Sibley, G, Cummins, M, Newman, P, Reid, I

“…In this article, we investigate the precision that can be achieved with only local estimation of motion and structure provided by a stereo pair. We introduce a simple but novel representation of the environment in terms of a sequence of relative locations. …”

Choosing Where To Go: Complete 3D Exploration With Stereo by Shade, R, Newman, P, IEEE

“…This paper is about the autonomous acquisiti of detailed 3D maps of a-priori unknown environments using stereo camera - it is about choosing where to go. …”

Real-time probabilistic fusion of sparse 3D LIDAR and dense stereo by Maddern, W, Newman, P

“…Here, taking advantage of the complementary error characteristics of LIDAR range sensing and dense stereo, we present a probabilistic method for fusing sparse 3D LIDAR data with stereo images to provide accurate dense depth maps and uncertainty estimates in real-time. …”

RSLAM: A System for Large-Scale Mapping in Constant-Time Using Stereo by Mei, C, Sibley, G, Cummins, M, Newman, P, Reid, I

“…We describe a relative simultaneous localisation and mapping system (RSLAM) for the constant-time estimation of structure and motion using a binocular stereo camera system as the sole sensor. Achieving robustness in the presence of difficult and changing lighting conditions and rapid motion requires careful engineering of the visual processing, and we describe a number of innovations which we show lead to high accuracy and robustness. …”

Choosing where to go: mobile robot exploration by Shade, RJ

“…The surface is maintained as a planar graph structure in which vertices correspond to points in space as seen by the stereo camera. Edges connect vertices which have been seen as adjacent pixels in a stereo image pair, and have a weight equal to the Euclidean distance between the end points. …”

Real-time bounded-error pose estimation for road vehicles using vision by Napier, A, Sibley, G, Newman, P

“…We demonstrate our technique on data gathered from a stereo pair on a vehicle traveling at 40 kph through urban streets. …”

Keep geometry in context: using contextual priors for very-large-scale 3D dense reconstructions by Tanner, M, Pinies, P, Paz, L, Newman, P

“…These are the largest regularized dense reconstructions from a passive stereo camera we are aware of in the literature.</p>…”

Continually Improving Large Scale Long Term Visual Navigation of a Vehicle in Dynamic Urban Environments by Churchill, W, Newman, P, IEEE

“…We evaluate our new approach on 37km of stereo data captured over a three month period. © 2012 IEEE.…”

Generation and Exploitation of Local Orthographic Imagery for Road Vehicle Localisation by Napier, A, Newman, P, IEEE

“…We exploit state of the art stereo visual odometry (VO) on our survey vehicle to generate high precision synthetic orthographic images of the road surface as would be seen from overhead. …”

I can see clearly now: image restoration via de-raining by Porav, H, Bruls, T, Newman, P

“…We introduce a novel stereo dataset recorded using a system that allows one lens to be affected by real water droplets while keeping the other lens clear. …”

Appearance-only SLAM at large scale with FAB-MAP 2.0 by Cummins, M, Newman, P

“…The 1000 km data set comprising almost a terabyte of omni-directional and stereo imagery is available for use, and we hope that it will serve as a benchmark for future systems. © The Author(s) 2011.…”

Meshed up: learnt error correction in 3D reconstructions by Tanner, M, Saftescu, S, Bewley, A, Newman, P

“…We train a suitably deep network architecture with two 3D meshes: a high-quality laser reconstruction, and a lower quality stereo image reconstruction. The network predicts the amount of error in the lower quality reconstruction with respect to the high-quality one, having only view the former through its input. …”

Multimotion visual odometry (MVO): Simultaneous estimation of camera and third-party motions by Judd, K, Gammell, J, Newman, P

“…This paper extends the traditional visual odometry (VO) pipeline to estimate the full SE (3) motion of both a stereo/RGBD camera and the dynamic scene. This multimotion visual odometry (MVO) pipeline requires no a priori knowledge of the environment or the dynamic objects. …”

MURFI 2016 – From cars to Mars: Applying autonomous vehicle navigation methods to a space rover mission by Yeomans, B, Porav, H, Gadd, M, Barnes, D, Dequaire, J, Wilcox, T, Kyberd, S, Venn, S, Newman, P

“…</p> <br/> <p>During the post-MURFI trials programme, the team implemented ORI’s “Dub4” suite to provide “teach-andrepeat” (T&amp;R;) functionality. Dub4 uses a single stereo camera to create vision-based maps in highly unstructured environments which are then used to localise and navigate autonomously. …”

Multimotion visual odometry (MVO): Simultaneous estimation of camera and third-party motions by Gammell, J, Judd, K, Newman, P

“…This paper extends the traditional visual odometry (VO) pipeline to estimate the full SE (3) motion of both a stereo/RGBD camera and the dynamic scene. This multimotion visual odometry (MVO) pipeline requires no a priori knowledge of the environment or the dynamic objects. …”

Planes, Trains and Automobiles - Autonomy for the Modern Robot by Sibley, G, Mei, C, Reid, I, Newman, P, IEEE

“…Over 181GB of image and inertial data are captured using head-mounted stereo cameras. This data is processed into a relative map covering 121 km of Southern England. …”

The data market: Policies for decentralised visual localisation by Newman, P, Gadd, M

“…To this end, we demonstrate and evaluate our system using the publicly available Oxford RobotCar Dataset, the hand-labelled data market catalogue (approaching 446 km of fully indexed sections-of-interest) for which we plan to release alongside the existing raw stereo imagery. We show that, by refining market policies over time, agents achieve improved localisation in a directed and accelerated manner.…”

The path less taken: A fast variational approach for scene segmentation used for closed loop control by Suleymanov, T, Paz, L, Pinies, P, Hester, G, Newman, P

“…In this paper we propose an on-line system that discovers and drives collision-free traversable paths, using a variational approach to dense stereo vision. Our system is light weight, can be run on low cost hardware and is remarkably quick to predict the semantics. …”

The data market: policies for decentralised visual localisation by Gadd, M

“…</p> <p>The system is implemented in more than 50 000 lines of C++ code and evaluated over hundreds of kilometres of monocular and stereo imagery from a comprehensive collection of warehouse, urban, and planetary analogue environments featuring diverse deviation in appearance due to textural, atmospheric, lighting, and structural dynamics and analysed over an exhaustive combination of the sensory records of the <em>Oxford RobotCar Dataset</em>.…”