April 2005: New results in using MonoSLAM perform real-time visual SLAM with the humanoid robot HRP-2. This work was done in collaboration with Olivier Stasse during my visit to the Joint Japanese-French Research Lab (JRL), AIST, Japan. Image capture was via a wide-angle firewire camera fitted to the robot (the robot’s standard trinocular rig was… Read more »
Monthly Archives: July 2014
February 2005: My work on augmented reality with Ian Reid in Oxford was featured in an article from New Scientist.
September 2004: new results in recovering the surface orientations of planar patches in the world and using hand gestures for augmenting the SLAM map, both during real-time single camera SLAM. In the surface orientation work, performed in collaboration with Nick Molton and Ian Reid, an initial hypothesized orientation estimate for each feature patch is refined… Read more »
March 2004: a big step forward in the quality of results and presentation demonstrated in Real-Time Augmented Reality and Personal Localisation using Single Camera SLAM. This video, produced in collaboration with Nick Molton, Ian Reid, Ben Tordoff and Walterio Mayol, demonstrates the general operation of our single camera localisation and mapping technique and its application… Read more »
Jan 2004: much improved Single Camera SLAM results using a wide-angle lens, in collaboration with Yolanda Gonzalez Cid and Nobuyuki Kita. The camera used was the wide-angle version of the Unibrain Fire-i which has a field of view of just over 90 degrees. The camera was pre-calibrated via a perspective + one parameter radial distortion… Read more »
April 2003: new applications of real-time single camera localisation and SLAM. On the left: real-time localisation with a known map of features using a single camera with a fish-eye lens (joint work with Nobuyuki Kita and Francois Berenger at AIST Japan). This lens has a field of view of around 150 degrees with a spherical… Read more »