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So far Oxford Robotics Institute has created 66 blog entries.

Liz Murphy

MRG Publications [bibtex author=Murphy|Liz group=year group_order=desc file=http://www.robots.ox.ac.uk/~mobile/Papers/MRGBib.bib]

Liz Murphy 2016-10-22T19:50:24+00:00

Manjari Chandran-Ramesh

MRG Publications [bibtex author=Chandran-Ramesh|Chandran group=year group_order=desc file=http://www.robots.ox.ac.uk/~mobile/Papers/MRGBib.bib]

Manjari Chandran-Ramesh 2016-10-22T19:50:12+00:00

Kim Leong Ho

MRG Publications [bibtex author=Leong Ho|Kim group=year group_order=desc file=http://www.robots.ox.ac.uk/~mobile/Papers/MRGBib.bib]

Kim Leong Ho 2016-10-22T19:50:04+00:00

Automatic Self-Calibration Of A Full Field-Of-View 3D n-Laser Scanner

Abstract - This paper describes the design, build, automatic self-calibration and evaluation of a 3D Laser sensor using conventional parts. Our goal is to design a system, which is an order of magnitude cheaper than commercial systems, with commensurate performance. In this paper we adopt point cloud “crispness” as the measure of system performance that we [...]

Automatic Self-Calibration Of A Full Field-Of-View 3D n-Laser Scanner 2016-10-22T19:49:34+00:00

Discovering and Mapping Complete Surfaces With Stereo

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. We call this surface the covering surface. We [...]

Discovering and Mapping Complete Surfaces With Stereo 2016-10-22T19:49:34+00:00

Self-calibration for a 3D laser

Abstract—This paper describes a method for the automatic self-calibration of a 3D Laser sensor. We wish to acquire crisp point clouds and so we adopt a measure of crispness to capture point cloud quality. We then pose the calibration problem as the task of maximising point cloud quality. Concretely, we use Rényi Quadratic Entropy to [...]

Self-calibration for a 3D laser 2016-10-22T19:49:34+00:00

TICSync: Knowing When Things Happened

  Modern robotic systems are composed of many distributed processes sharing a common communications infrastructure. High-bandwidth sensor data is often collected on one computer and served to many consumers. It is vital that every device on the network agrees on how time is measured. If not, sensor data may be at best inconsistent and at [...]

TICSync: Knowing When Things Happened 2016-10-22T19:49:34+00:00

Vast Scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment

This shows the 121-km path taken between Oxford in the upper left and London in the bottom right. We compute visual estimates for 89.4% of this trajectory and fall back on inertial sensing for the remainder. Abstract - In this paper we describe a relative approach to simultaneous localisation and mapping, based on the [...]

Vast Scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment 2016-10-22T19:49:34+00:00

Generating Implicit Surfaces from Lidar Data

Abstract—This paper is concerned with generating a continuous implicit representation of a robot’s workspace using sparse point cloud data. We adopt a Gaussian Process (GP) framework to model the underlying workspace surfaces and suggest a non- parametric formulation which allows us to capture the non-functional relation between ground plane and elevation that is not possible [...]

Generating Implicit Surfaces from Lidar Data 2016-10-22T19:49:35+00:00

Cross-Calibration of Push-Broom 2D LIDARs and Cameras In Natural Scenes

Abstract— This paper addresses the problem of automatically estimating the relative pose between a push-broom LIDAR and a camera without the need for artificial calibration targets or other human intervention. Further we do not require the sensors to have an overlapping field of view, it is enough that they observe the same scene but at [...]

Cross-Calibration of Push-Broom 2D LIDARs and Cameras In Natural Scenes 2016-10-22T19:49:35+00:00