dominic

Email: dominic_at_robots.ox.ac.uk

Dominic started as a research assistant at MRG in 2014, working on real-time robotic perception systems for autonomous navigation.

With the support of Oxbotica, Dominic led the development of the autonomy system of the LUTZ project. In particular, he was directly involved in the   research and design of the perception subsystem.

Bio

Dominic obtained his MEng from the University of Oxford in the year 2010, after which he joined MRG for a PhD programme.  He obtained his PhD degree in 2015.


Research

Model-Free Dynamic Object Detection and Tracking with 2D Lidar

This project aims at detecting and tracking moving objects with a 2D laser scanner independent of their classes and shapes. In this ...
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Detection of Cars, Pedestrians and Bicyclists from 3D Point Clouds

This project provides an end-to-end system for the detection of cars, pedestrians and bicyclists -- hazardous objects that could potentially ...
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Publications

2017

  • [PDF] [DOI] M. Wulfmeier, D. Rao, D. Z. Wang, P. Ondruska, and I. Posner, “Large-scale cost function learning for path planning using deep inverse reinforcement learning,” The International Journal of Robotics Research, p. 278364917722396, 2017.
    [Bibtex]

    @article{WulfmeierIJRR2017,
    author = {Markus Wulfmeier and Dushyant Rao and Dominic Zeng Wang and Peter Ondruska and Ingmar Posner},
    title = {Large-scale cost function learning for path planning using deep inverse reinforcement learning},
    journal = {The International Journal of Robotics Research},
    pages = {0278364917722396},
    year = {2017},
    doi = {10.1177/0278364917722396},
    URL = {http://dx.doi.org/10.1177/0278364917722396},
    pdf = {http://dx.doi.org/10.1177/0278364917722396},
    }

  • [PDF] J. Dequaire, P. Ondrúška, D. Rao, D. Wang, and I. Posner, “Deep tracking in the wild: End-to-end tracking using recurrent neural networks,” The International Journal of Robotics Research, 2017.
    [Bibtex]

    @article{DequaireIJJ2017,
    author = {Dequaire, Julie and Ondr{\'u}{\v{s}}ka, Peter and Rao, Dushyant and Wang, Dominic and Posner, Ingmar},
    title = {Deep tracking in the wild: End-to-end tracking using recurrent neural networks},
    year = {2017},
    eprint = {http://journals.sagepub.com/doi/abs/10.1177/0278364917710543},
    journal = {The International Journal of Robotics Research},
    publisher={SAGE Publications Sage UK: London, England},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017_IJRR_Dequaire.pdf}
    }

2016

  • [PDF] M. Wulfmeier, D. Z. Wang, and I. Posner, ” Watch This: Scalable Cost-Function Learning for Path Planning in Urban Environments ,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
    IROS ABB Best Student Paper Award [Bibtex]

    @inproceedings{WulfmeierIROS2016,
    Author = { Wulfmeier, Markus and Wang, Dominic Zeng and Posner, Ingmar },
    Title = "{ Watch This: Scalable Cost-Function Learning for Path Planning in Urban Environments }",
    Booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems (IROS)},
    Note = {arxiv preprint: http://arxiv.org/abs/1607.02329},
    Pdf = {http://ieeexplore.ieee.org/document/7759328/},
    Year = 2016,
    Month = October,
    award = "IROS ABB Best Student Paper Award",
    awardlink = "http://www.iros2016.org/awards.html"
    }

2015

  • [DOI] D. Z. Wang, I. Posner, and P. Newman, “Model-Free Detection and Tracking of Dynamic Objects with 2D Lidar,” The International Journal of Robotics Research (IJRR), vol. 34, iss. 7, pp. 1039-1063, 2015.
    [Bibtex]

    @article{2015IJRR_wang,
    Author = {Dominic Zeng Wang and Ingmar Posner and Paul Newman},
    Journal = {The International Journal of Robotics Research (IJRR)},
    Title = {Model-Free Detection and Tracking of Dynamic Objects with 2{D} Lidar},
    Volume = {34},
    Number = {7},
    Pages = {1039-1063},
    DOI = {10.1177/0278364914562237},
    Year = {2015}}

  • [PDF] D. Z. Wang and I. Posner, “Voting for Voting in Online Point Cloud Object Detection,” in Proceedings of Robotics: Science and Systems, Rome, Italy, 2015.
    [Bibtex]

    @inproceedings{2015RSS_wang,
    Address = {Rome, Italy},
    Author = {Dominic Zeng Wang AND Ingmar Posner},
    Booktitle = {Proceedings of Robotics: Science and Systems},
    Month = {July},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015RSS_wang.pdf},
    Title = {Voting for Voting in Online Point Cloud Object Detection},
    Year = {2015}}

2013

  • [PDF] D. Z. Wang, I. Posner, and P. Newman, “A New Approach to Model-Free Tracking with 2D Lidar,” in Proceedings of the International Symposium on Robotics Research (ISRR), Singapore, 2013.
    [Bibtex]

    @inproceedings{WangISRR2013,
    Address = {Singapore},
    Author = {Dominic Zeng Wang and Ingmar Posner and Paul Newman},
    Booktitle = {Proceedings of the International Symposium on Robotics Research (ISRR)},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2013ISRR_wang.pdf},
    Title = {A New Approach to Model-Free Tracking with 2{D} Lidar},
    Year = {2013}}

2012

  • [PDF] D. Z. Wang, I. Posner, and P. Newman, “What Could Move? Finding Cars, Pedestrians and Bicyclists in 3D Laser Data,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Minnesota, USA, 2012.
    [Bibtex]

    @inproceedings{WangICRA2012,
    Address = {Minnesota, USA},
    Author = {Dominic Zeng Wang and Ingmar Posner and Paul Newman},
    Booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2012ICRA_wang.pdf},
    Title = {What Could Move? Finding Cars, Pedestrians and Bicyclists in 3{D} Laser Data},
    Year = {2012}}


Thesis

  • [PDF] D. Z. Wang, “Laser-Based Detection and Tracking of Dynamic Objects,” PhD Thesis, Oxford, United Kingdom, 2014.
    [Bibtex]

    @phdthesis{DominicZengWang,
    Address = {Oxford, United Kingdom},
    Author = {Dominic Zeng Wang},
    Keywords = {Laser, Perception, Vote3D},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Theses/WangThesis.pdf},
    School = {University of Oxford},
    Title = {Laser-Based Detection and Tracking of Dynamic Objects},
    Year = {2014}}