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 »
Uncategorized
[News Archive] August 2006: I co-organised the SLAM Summer School 2006
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 »
[News Archive] May 2006: A new release (confidently labelled 1.0) of the open source SceneLib library for real-time SLAM
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.
[News Archive] May 2006: a new unified parameterisation for EKF-based monocular SLAM
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 »
[News Archive] May 2006: real-time rotation estimation and mosaicing were presented at ICRA 2006.
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 »
[News Archive] October 2005: I gave an oral presentation of my paper “Active Search for Real-Time Vision” at ICCV 2005
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 »
[News Archive] June 2005: I gave a tutorial on Real-Time Motion and Structure Estimation from Moving Cameras at CVPR
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 »
[News Archive] April 2005: New results in using MonoSLAM perform real-time visual SLAM with the humanoid robot HRP-2
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 »
[News Archive] February 2005: My work on augmented reality with Ian Reid in Oxford was featured in an article from New Scientist.
February 2005: My work on augmented reality with Ian Reid in Oxford was featured in an article from New Scientist.
[News Archive] September 2004: new results in recovering the surface orientations of planar patches
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 »