STEREO FIXATION USING AFFINE TRANSFER by Fairley, S, Reid, I, Murray, D

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. …”

Global Stereo Reconstruction under Second-Order Smoothness Priors by Woodford, O, Torr, P, Reid, I, Fitzgibbon, A

Transfer of fixation using affine structure: Extending the analysis to stereo by Fairley, S, Reid, I, Murray, D

“…This paper describes an algorithm for maintaining fixation upon a 3D body-centred point using 3D affine transfer, extending an earlier monocular method to stereo cameras. Transfer is based on corners detected in the image and matched over time and in stereo. …”

Manhattan Scene Understanding Using Monocular, Stereo, and 3D Features by Flint, A, Murray, D, Reid, I, IEEE

“…To achieve this we present a graphical model that relates photometric cues learned from labeled data, stereo photo-consistency across multiple views, and depth cues derived from structure-from-motion point clouds. …”

Transfer of Fixation for an Active Stereo Platform via Affine Structure Recovery by Fairley, S, Reid, I, Murray, D

“…This paper describes an algorithm for stereo tracking using 3D affine transfer of a body-centred fixation point. …”

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. …”

Priors for new view synthesis by Woodford, O, Oliver Woodford

“…Finally, a powerful new inference framework for stereo that allows the tractable optimization of second order smoothness priors is introduced. …”

Active Visual Navigation using Non-Metric Structure by Beardsley, P, Reid, I, Zisserman, A, Murray, D

“…The structure is composed of 3D points obtained by detecting and matching image corners through the stereo image sequence. Considerable care has been taken to ensure that the processing is reliable, robust and automatic. …”

A MODULAR HEAD EYE PLATFORM FOR REAL-TIME REACTIVE VISION by Sharkey, P, Murray, D, Vandevelde, S, Reid, I, Mclauchlan, P

“…This paper describes the design, implementation and testing of a high speed controlled stereo "head/eye" platform which facilitates the rapid redirection of gaze in response to visual input. …”

The pipe-group architecture real-time active vision by McLauchlan, P, Reid, I, Fairley, S, Murray, D

“…The paper illustrates the use of the pipe-group processing architecture and its real-time processing capabilities, with an example of active stereo tracking and structure recovery using the method of affine tranfer. © 1997 Academic Press Limited.…”

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. …”

Vast-scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment by Sibley, G, Mei, C, Reid, I, Newman, P

“…Our system operates online in realtime using stereo data, with fast appearance-based loop closure detection. …”

Geometric context from single and multiple views by Flint, AJ

“…We describe a probabilistic model relating photometric features, stereo photo–consistencies, and 3D point clouds to Manhattan scene structure in a Bayesian framework. …”