Monthly Archives: July 2014

June 2007: Some new results published at RSS 2007 on extending the range of monocular SLAM using a hierarchical submapping approach, in collaboration with Laura Clemente, José Neira and Mingo Tardós from the University of Zaragoza and Ian Reid from Oxford. High quality submaps containing around 100 features are built using MonoSLAM with inverse depth… Read more »

June 2007: Javier Civera, J. M. M. Montiel (University of Zaragoza) and I have been working on Dimensionless Monocular SLAM: a formulation of MonoSLAM which uses only dimensionless quantities and makes explicit the fact that a single camera builds maps with undetermined scale. In this formulation, the previous metric tuning parameters of Inverse Depth MonoSLAM… Read more »

November 2006: Excuse me for slipping into blog mode temporarily, but are superhuman AI and the technological singularity really coming in the near future (i.e. the next 20–30 years)? As I see the incredible recent progress in computer processing power, computer vision algorithms, search engines, miniaturisation, nanotechnology and so on it seems more and more… Read more »

September 2006: Real-time MonoSLAM using straight lines as well as point features, in collaboration with Paul Smith and Ian Reid from Oxford. Here efficiently-detected straight line segments in the image are parameterised as 3D lines and included in the SLAM state vector. When used in combination with point features lines can increase robustness and the… Read more »

August 2006: I co-organised the SLAM Summer School 2006, held in Oxford, together with Paul Newman. This was a big success with more than 60 PhD students from around the world attending and a great group of invited lecturers. See the website for more information — full lecture and practical resources and photos from the… Read more »

May 2006: A new release (confidently labelled 1.0) of the open source SceneLib library for real-time SLAM, which now includes full support for real-time MonoSLAM, is now available from my software page.

May 2006: Together with J. M. M. Montiel and Javier Civera from the University of Zaragoza, I have been working on a new unified parameterisation for EKF-based monocular SLAM which permits the smooth initialisation of features over much wider depth ranges than my previous particle method, and even copes with features potentially “at infinity”. The… Read more »

May 2006: The results of my work with J. M. M. Montiel from the University of Zaragoza, Spain, on using SLAM techniques for real-time rotation estimation and mosaicing were presented at ICRA 2006. In this work, we show that straightforward adoption of an EKF SLAM approach with sparse mapping of the directions of visual features… Read more »

October 2005: I gave an oral presentation of my paper “Active Search for Real-Time Vision” at ICCV 2005 in Beijing. I am very excited about this work, which tackles the problem of active measurement selection in real-time tracking (relevant to Single Camera SLAM or other more general tracking scenarios), using information theory to analyse the… Read more »

June 2005: I gave a tutorial on Real-Time Motion and Structure Estimation from Moving Cameras at CVPR in San Diego, together with Dr. David Nister from the University of Kentucky. David’s slides in Powerpoint format are available from his website here. My part of the tutorial is available in HTML form here. The movies in… Read more »