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So far Oxford Robotics Institute has created 65 blog entries.

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]

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]

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 [...]

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 [...]

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 [...]

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 [...]

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 [...]

Road vehicle localization with 2D push-broom lidar and 3D priors

In this paper we describe and demonstrate a method for precisely localizing a road vehicle using a single push-broom 2D laser scanner while leveraging a prior 3D survey. In contrast to conventional scan matching, our laser is oriented downwards, thus causing continual ground strike. Our method exploits this to produce a small 3D swathe of laser data which can be matched [...]