winston
Email: winston_at_robots.ox.ac.uk

Winston is a Senior Researcher in the Mobile Robotics Group, working on vision based navigation systems and leading the groups software effort.

Research

Winston has interests in the following areas:

  • Visual odometry
  • Teach and repeat systems
  • VO + IMU pose estimation
  • Experienced based navigation

Bio

Winston received a MEng in Engineering Science in 2008, from the University of Oxford. His fourth year project was with the MRG, teaching Marge (a now retired robot) to follow paths using a monocular camera. He then completed his DPhil with the MRG in 2012, his thesis topic was on large scale, long term visual navigation.

 My projects

Our Space Robot is a Q14 robot from Advanced Robotics Concepts. With active 4 wheel steering and drive, a passive dynamic suspension system and a range of sensors, the Q14 is well equipped to handle a range of environments and provides us with a great platform to test our algorithms. The ...
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2016

  • [PDF] J. Dequaire, C. H. Tong, W. Churchill, and I. Posner, “Off the Beaten Track: Predicting Localisation Performance in Visual Teach and Repeat,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.
    [Bibtex]

    @inproceedings{DequaireICRA2016,
    Address = {Stockholm, Sweden},
    Author = {Dequaire, Julie and Tong, Chi Hay and Churchill, Winston and Posner, Ingmar},
    Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2016ICRA_dequaire.pdf},
    Title = {Off the Beaten Track: Predicting Localisation Performance in Visual Teach and Repeat},
    Year = {2016}}

  • [PDF] C. Linegar, W. Churchill, and P. Newman, “Made to Measure: Bespoke Landmarks for 24-Hour, All-Weather Localisation with a Camera,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.
    [Bibtex]

    @inproceedings{LinegarICRA2016,
    Address = {Stockholm, Sweden},
    Author = {Linegar, Chris and Churchill, Winston and Newman, Paul},
    Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2016ICRA_Linegar.pdf},
    Title = {Made to Measure: Bespoke Landmarks for 24-Hour, All-Weather Localisation with a Camera},
    Year = {2016}}

2015

  • [PDF] P. Nelson, W. Churchill, I. Posner, and P. Newman, “From Dusk till Dawn: Localisation at Night using Artificial Light Sources,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
    [Bibtex]

    @inproceedings{NelsonICRA2015,
    Address = {Seattle, WA, USA},
    Author = {Nelson, Peter and Churchill, Winston and Posner, Ingmar and Newman, Paul},
    Booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_Nelson.pdf},
    Title = {{F}rom {D}usk till {D}awn: {L}ocalisation at {N}ight using {A}rtificial {L}ight {S}ources},
    Year = {2015}}

  • [PDF] C. Linegar, W. Churchill, and P. Newman, “Work Smart, Not Hard: Recalling Relevant Experiences for Vast-Scale but Time-Constrained Localisation,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
    [Bibtex]

    @inproceedings{LinegarICRA2015,
    Address = {Seattle, WA, USA},
    Author = {Linegar, Chris and Churchill, Winston and Newman, Paul},
    Booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_Linegar.pdf},
    Title = {{W}ork {S}mart, {N}ot {H}ard: {R}ecalling {R}elevant {E}xperiences for {V}ast-{S}cale but {T}ime-{C}onstrained {L}ocalisation},
    Year = {2015}}

  • [PDF] W. Churchill, C. H. Tong, C. Gurau, I. Posner, and P. Newman, “Know Your Limits: Embedding Localiser Performance Models in Teach and Repeat Maps,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
    [Bibtex]

    @inproceedings{ChurchillICRA2015,
    Address = {Seattle, WA, USA},
    Author = {Churchill, Winston and Tong, Chi Hay and Gurau, Corina and Posner, Ingmar and Newman, Paul},
    Booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_Churchill.pdf},
    Title = {{K}now {Y}our {L}imits: {E}mbedding {L}ocaliser {P}erformance {M}odels in {T}each and {R}epeat {M}aps},
    Year = {2015}}

2014

  • [PDF] W. Maddern, A. Stewart, C. McManus, B. Upcroft, W. Churchill, and P. Newman, “Illumination Invariant Imaging: Applications in Robust Vision-based Localisation, Mapping and Classification for Autonomous Vehicles,” in Proceedings of the Visual Place Recognition in Changing Environments Workshop, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
    [Bibtex]

    @inproceedings{MaddernICRA2014,
    Address = {Hong Kong, China},
    Author = {Will Maddern and Alex Stewart and Colin McManus and Ben Upcroft and Winston Churchill and Paul Newman},
    Booktitle = {Proceedings of the Visual Place Recognition in Changing Environments Workshop, IEEE International Conference on Robotics and Automation (ICRA)},
    Date-Added = {2014-04-29 01:10:22 +0000},
    Date-Modified = {2014-04-29 01:12:06 +0000},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014ICRA_maddern.pdf},
    Title = {Illumination Invariant Imaging: Applications in Robust Vision-based Localisation, Mapping and Classification for Autonomous Vehicles},
    Year = {2014}}

  • [PDF] B. Upcroft, C. McManus, W. Churchill, W. Maddern, and P. Newman, “Lighting Invariant Urban Street Classification,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
    [Bibtex]

    @inproceedings{Upcroft2014,
    Address = {Hong Kong, China},
    Author = {Ben Upcroft and Colin McManus and Winston Churchill and Will Maddern and Paul Newman},
    Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    Date-Added = {2014-02-12 18:47:43 +0000},
    Date-Modified = {2014-02-12 18:51:28 +0000},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014ICRA_upcroft.pdf},
    Title = {Lighting Invariant Urban Street Classification},
    Year = {2014}}

  • [PDF] C. McManus, W. Churchill, W. Maddern, A. Stewart, and P. Newman, “Shady Dealings: Robust, Long- Term Visual Localisation using Illumination Invariance,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
    [Bibtex]

    @inproceedings{McManusICRA2014,
    Address = {Hong Kong, China},
    Author = {Colin McManus and Winston Churchill and Will Maddern and Alex Stewart and Paul Newman},
    Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    Date-Added = {2014-02-12 18:44:35 +0000},
    Date-Modified = {2014-02-12 18:51:19 +0000},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014ICRA_McManus.pdf},
    Title = {Shady Dealings: Robust, Long- Term Visual Localisation using Illumination Invariance},
    Year = {2014}}

2013

  • [PDF] W. Churchill and P. Newman, “Experience-based Navigation for Long-term Localisation,” The International Journal of Robotics Research (IJRR), 2013.
    [Bibtex]

    @article{ChurchillIJRR2013,
    Author = {Winston Churchill and Paul Newman},
    Journal = {The International Journal of Robotics Research (IJRR)},
    Keywords = {Experience Based Navigation},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2013IJRR_Churchill.pdf},
    Title = {{E}xperience-based {N}avigation for {L}ong-term {L}ocalisation},
    Year = {2013}}

  • [PDF] P. Corke, R. Paul, W. Churchill, and P. Newman, “Dealing with Shadows: Capturing Intrinsic Scene Appearance for Image-based Outdoor Localisation,” in Proc. of the International Conference on Intelligent Robots and Systems (IROS), 2013.
    [Bibtex]

    @inproceedings{CorkeIROS2013,
    Author = {Peter Corke and Rohan Paul and Winston Churchill and Paul Newman},
    Booktitle = {Proc. of the International Conference on Intelligent Robots and Systems (IROS)},
    Month = {November},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2013IROS_corke.pdf},
    Title = {Dealing with Shadows: Capturing Intrinsic Scene Appearance for Image-based Outdoor Localisation},
    Year = {2013}}

  • [PDF] C. McManus, W. Churchill, A. Napier, B. Davis, and P. and Newman, “Distraction Suppression for Vision-Based Pose Estimation at City Scales,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
    [Bibtex]

    @inproceedings{McManusICRA2013,
    Address = {Karlsruhe, Germany},
    Author = {Colin McManus and Winston Churchill and Ashley Napier and Ben Davis and and Paul Newman},
    Booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
    Keywords = {Experience Based Navigation},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2013ICRA_cm.pdf},
    Title = {Distraction Suppression for Vision-Based Pose Estimation at City Scales},
    Year = {2013}}

2012

  • [PDF] W. Churchill and P. Newman, “Continually Improving Large Scale Long Term Visual Navigation of a Vehicle in Dynamic Urban Environments,” in Proc. IEEE Intelligent Transportation Systems Conference (ITSC), Anchorage, USA, 2012.
    [Bibtex]

    @inproceedings{ChurchillITSC2012,
    Address = {Anchorage, USA},
    Author = {Winston Churchill and Paul Newman},
    Booktitle = {Proc. IEEE Intelligent Transportation Systems Conference (ITSC)},
    Keywords = {Experience Based Navigation},
    Month = {September},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2012ITSC_wsc.pdf},
    Title = {Continually Improving Large Scale Long Term Visual Navigation of a Vehicle in Dynamic Urban Environments},
    Year = {2012}}

  • [PDF] W. Churchill and P. Newman, “Practice Makes Perfect? Managing and Leveraging Visual Experiences for Lifelong Navigation,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Minnesota, USA, 2012.
    [Bibtex]

    @inproceedings{WinstonICRA2012,
    Address = {Minnesota, USA},
    Author = {Winston Churchill and Paul Newman},
    Booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
    Date-Added = {2012-02-24 19:27:23 +0000},
    Date-Modified = {2012-03-06 10:12:36 +0000},
    Keywords = {Experience Based Navigation},
    Month = {May},
    Owner = {Winston},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2012ICRA_wsc.pdf},
    Timestamp = {2012.02.02},
    Title = {Practice Makes Perfect? Managing and Leveraging Visual Experiences for Lifelong Navigation},
    Year = {2012}}

2009

  • [PDF] [DOI] P. Newman, G. Sibley, M. Smith, M. Cummins, A. Harrison, C. Mei, I. Posner, R. Shade, D. Schroeter, L. Murphy, W. Churchill, D. Cole, and I. Reid, “Navigating, Recognising and Describing Urban Spaces With Vision and Laser,” The International Journal of Robotics Research, vol. 28, 2009.
    [Bibtex]

    @article{NewmanEtAlIJRR09,
    Author = {Paul Newman and Gabe Sibley and Mike Smith and Mark Cummins and Alastair Harrison and Christopher Mei and Ingmar Posner and Robbie Shade and Derik Schroeter and Liz Murphy and Winston Churchill and Dave Cole and Ian Reid},
    Doi = {10.1177/0278364909341483},
    Journal = {The International Journal of Robotics Research},
    Keywords = {Urban Classification and, journal_posner},
    Month = {October},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/1406-1433 ijr-341483_Low.pdf},
    Title = {Navigating, Recognising and Describing Urban Spaces With Vision and Laser},
    Volume = {28},
    Year = {2009},
    Bdsk-Url-1 = {http://dx.doi.org/10.1177/0278364909341483}}

  • [PDF] [DOI] M. Smith, I. Baldwin, W. Churchill, R. Paul, and P. Newman, “The New College Vision and Laser Data Set,” The International Journal of Robotics Research, vol. 28, iss. 5, pp. 595-599, 2009.
    [Bibtex]

    @article{SmithEtAl:IJRR09,
    Author = {Mike Smith and Ian Baldwin and Winston Churchill and Rohan Paul and Paul Newman},
    Doi = {DOI: 10.1177/0278364909103911},
    Issn = {0921-8890},
    Journal = {The International Journal of Robotics Research},
    Keywords = {Data Paper and 3D Laser Aquisition and 3D Laser Acquisition and Fusing Vision and Laser},
    Month = {May},
    Note = {Data Papers ¬{\'o} Peer Reviewed Publication of High Quality Data Sets},
    Number = {5},
    Pages = {595 - 599},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/IJRRDataPaper09.pdf},
    Title = {The New College Vision and Laser Data Set},
    Url = {http://www.robots.ox.ac.uk/NewCollegeData/},
    Volume = {28},
    Year = {2009},
    Bdsk-Url-1 = {http://www.robots.ox.ac.uk/NewCollegeData/},
    Bdsk-Url-2 = {http://dx.doi.org/10.1177/0278364909103911}}