Mark Cummins

/Mark Cummins

MRG Publications

2010

  • [PDF] C. Mei, G. Sibley, M. Cummins, P. Newman, and I. Reid, “RSLAM: A System for Large-Scale Mapping in Constant-Time using Stereo,” International Journal of Computer Vision, pp. 1-17, 2010.
    [Bibtex]
    @article{ChristopherMei2010,
    Author = {Christopher Mei and Gabe Sibley and Mark Cummins and Paul Newman and Ian Reid},
    Journal = {International Journal of Computer Vision},
    Keywords = {Relative SLAM},
    Month = {June},
    Owner = {ashley},
    Pages = {1 - 17},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2010IJCV_mei.pdf},
    Timestamp = {2011.07.25},
    Title = {RSLAM: A System for Large-Scale Mapping in Constant-Time using Stereo},
    Year = {2010}}
  • [PDF] M. Cummins and P. Newman, “Appearance-only SLAM at Large Scale with FAB-MAP 2.0,” The International Journal of Robotics Research, 2010.
    [Bibtex]
    @article{Cummins2010,
    Author = {Mark Cummins and Paul Newman},
    Journal = {The International Journal of Robotics Research},
    Keywords = {Topological Mapping and Loop Closing With Vision and FABMAP},
    Month = {November},
    Owner = {ashley},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2010IJRR_cummins.pdf},
    Timestamp = {2011.07.25},
    Title = {Appearance-only SLAM at Large Scale with FAB-MAP 2.0},
    Year = {2010}}
  • [PDF] M. Cummins and P. Newman, “Accelerating FAB-MAP with Concentration Inequalities,” IEEE Transactions on Robotics, vol. 26, iss. 6, 2010.
    [Bibtex]
    @article{Cummins2010a,
    Author = {Mark Cummins and Paul Newman},
    Journal = {IEEE Transactions on Robotics},
    Keywords = {Topological Mapping and Loop Closing With Vision and FABMAP},
    Month = {December},
    Number = {6},
    Owner = {cummins},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2010TOR_cummins.pdf},
    Timestamp = {2011.07.25},
    Title = {Accelerating FAB-MAP with Concentration Inequalities},
    Volume = {26},
    Year = {2010}}

2009

  • [PDF] M. Cummins and Paul Newman, “Highly Scalable Appearance-Only SLAM ñ FAB-MAP 2.0,” in Robotics Science and Systems (RSS), Seattle, USA, 2009.
    [Bibtex]
    @inproceedings{CumminsNewmanRSS09,
    Address = {Seattle, USA},
    Author = {Mark Cummins and Paul Newman,},
    Booktitle = {Robotics Science and Systems (RSS)},
    Keywords = {Topological Mapping and Loop Closing With Vision and FABMAP},
    Month = {June},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/FABMAP 2.0 RSS 2009.pdf},
    Title = {Highly Scalable Appearance-Only SLAM {\~n} FAB-MAP 2.0},
    Year = {2009}}
  • [PDF] C. Mei, G. Sibley, M. Cummins, P. Newman, and I. Reid, “A Constant Time Efficient Stereo SLAM System,” in Proceedings of the British Machine Vision Conference (BMVC), London, 2009.
    [Bibtex]
    @inproceedings{mei09,
    Address = {London},
    Author = {Christopher Mei and Gabe Sibley and Mark Cummins and Paul Newman and Ian Reid},
    Booktitle = {Proceedings of the British Machine Vision Conference (BMVC)},
    Keywords = {Relative SLAM},
    Month = {September},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/AConstantTimeEfficientStereoSLAMSystem_mei_bmvc_09.pdf},
    Title = {A Constant Time Efficient Stereo SLAM System},
    Year = {2009}}
  • P. Newman, G. Sibley, M. Cummins, M. Smith, A. Harrison, C. Mei, and I. Reid, “Toward Life Long Mapping,” in Proc. of the Int. Symposium of Robotics Research (ISRR), Lucerne, Switzerland, 2009.
    [Bibtex]
    @inproceedings{newman09isrr,
    Address = {Lucerne, Switzerland},
    Author = {Paul Newman and Gabe Sibley and Mark Cummins and Mike Smith and Alastair Harrison and Christopher Mei and Ian Reid},
    Booktitle = {Proc. of the Int. Symposium of Robotics Research {(ISRR)}},
    Keywords = {Topological Mapping and Loop Closing With Vision},
    Month = {August},
    Title = {Toward Life Long Mapping},
    Year = {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] I. Posner, M. Cummins, and P. Newman, “A generative framework for fast urban labeling using spatial and temporal context,” Autonomous Robots, vol. 26, iss. 2-3, pp. 153-170, 2009.
    [Bibtex]
    @article{PosnerEtAl:AuRo09,
    Author = {Ingmar Posner and Mark Cummins and Paul Newman},
    Doi = {10.1007/s10514-009-9110-6},
    Journal = {Autonomous Robots},
    Keywords = {Urban Classification, journal_posner},
    Month = {April},
    Number = {2-3},
    Pages = {153-170},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/AURO09_Preprint.pdf},
    Title = {A generative framework for fast urban labeling using spatial and temporal context},
    Url = {http://dx.doi.org/10.1007/s10514-009-9110-6},
    Volume = {26},
    Year = {2009},
    Bdsk-Url-1 = {http://dx.doi.org/10.1007/s10514-009-9110-6}}

2008

  • [PDF] M. Cummins and P. Newman, “Accelerated Appearance-Only SLAM,” in Proc. IEEE International Conference on Robotics and Automation(ICRA’08), Pasadena, California, 2008.
    [Bibtex]
    @inproceedings{Cummins08ICRA,
    Address = {Pasadena, California},
    Author = {Mark Cummins and Paul Newman},
    Booktitle = {Proc. {IEEE} International Conference on Robotics and Automation{(ICRA'08)}},
    Keywords = {SLAM and FABMAP and Loop Closure Bayesian Appearance},
    Month = {April},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/MJC_ICRA_2008.pdf},
    Title = {Accelerated Appearance-Only {SLAM}},
    Year = {2008}}
  • [PDF] [DOI] M. Cummins and P. Newman, “FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance,” The International Journal of Robotics Research, vol. 27, iss. 6, pp. 647-665, 2008.
    [Bibtex]
    @article{CumminsIJRR08,
    Abstract = {This paper describes a probabilistic approach to the problem of recognizing
    places based on their appearance. The system we present is not limited
    to localization, but can determine that a new observation comes from
    a previously unseen place, and so augment its map. Effectively this
    is a SLAM system in the space of appearance. Our probabilistic approach
    allows us to explicitly account for perceptual aliasing in the environment--identical
    but indistinctive observations receive a low probability of having
    come from the same place. We achieve this by learning a generative
    model of place appearance. By partitioning the learning problem into
    two parts, new place models can be learned online from only a single
    observation of a place. The algorithm complexity is linear in the
    number of places in the map, and is particularly suitable for online
    loop closure detection in mobile robotics.},
    Author = {Mark Cummins and Paul Newman},
    Doi = {10.1177/0278364908090961},
    Eprint = {http://ijr.sagepub.com/cgi/reprint/27/6/647.pdf},
    Journal = {The International Journal of Robotics Research},
    Keywords = {FABMAP and Loop Closure Bayesian Appearance and FABMAP Dataset},
    Number = {6},
    Pages = {647-665},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/IJRR_2008_FabMap.pdf},
    Title = {{FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance}},
    Url = {http://ijr.sagepub.com/cgi/content/abstract/27/6/647},
    Volume = {27},
    Year = {2008},
    Bdsk-Url-1 = {http://ijr.sagepub.com/cgi/content/abstract/27/6/647},
    Bdsk-Url-2 = {http://dx.doi.org/10.1177/0278364908090961}}
  • [PDF] I. Posner, M. Cummins, and P. Newman, “Fast Probabilistic Labeling of City Maps,” in Proceedings of Robotics: Science and Systems IV, Zurich, Switzerland, 2008.
    [Bibtex]
    @inproceedings{PosnerRSS08,
    Address = {Zurich, Switzerland},
    Author = {Ingmar Posner and Mark Cummins and Paul Newman},
    Booktitle = {Proceedings of Robotics: Science and Systems IV},
    Keywords = {Urban Classification and FABMAP, conference_posner},
    Month = {June},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/LabellingRSS08.pdf},
    Title = {Fast Probabilistic Labeling of City Maps},
    Year = {2008}}
  • [PDF] B. Williams, M. Cummins, J. Neira, P. Newman, I. Reid, and J. D. Tardos, “An image-to-map loop closing method for monocular SLAM,” in Proc. International Conference on Intelligent Robots and and Systems, Nice, France, 2008.
    [Bibtex]
    @inproceedings{WilliamsIROS08,
    Address = {Nice, France},
    Author = {Brian Williams and Mark Cummins and Jos{\`E} Neira and Paul Newman and Ian Reid and Juan D. Tardos},
    Booktitle = {Proc. International Conference on Intelligent Robots and and Systems},
    Keywords = {Topological Mapping and Loop Closing With Vision},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/williams_etal_iros2008.pdf},
    Title = {An image-to-map loop closing method for monocular SLAM},
    Year = {2008}}

2007

  • [PDF] M. Cummins and P. Newman, “Probabilistic Appearance Based Navigation and Loop Closing,” in Proc. IEEE International Conference on Robotics and Automation(ICRA’07), Rome, 2007.
    [Bibtex]
    @inproceedings{Cummins07ICRA,
    Address = {Rome},
    Author = {Mark Cummins and Paul Newman},
    Booktitle = {Proc. {IEEE} International Conference on Robotics and Automation{(ICRA'07)}},
    Keywords = {FABMAP and Loop Closure Bayesian Appearance},
    Month = {April},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/ICRA_2007_Bayesian_Loop_Closure.pdf},
    Title = {Probabilistic Appearance Based Navigation and Loop Closing},
    Year = {2007}}
  • [PDF] P. Newman, M. Chandran-Ramesh, D. Cole, M. Cummins, A. Harrison, I. Posner, and D. Schroeter, “Describing, Navigating and Recognising Urban Spaces – Building An End-to-End SLAM System,” in Proc. of the Int. Symposium of Robotics Research (ISRR), Hiroshima,Japan, 2007.
    [Bibtex]
    @inproceedings{newman07isrr,
    Address = {Hiroshima,Japan},
    Author = {Paul Newman and Manjari Chandran-Ramesh and Dave Cole and Mark Cummins and Alastair Harrison and Ingmar Posner and Derik Schroeter},
    Booktitle = {Proc. of the Int. Symposium of Robotics Research {(ISRR)}},
    Keywords = {Assesing Map Quality, conference_posner},
    Month = {November},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/ISRR07paper.pdf},
    Title = {Describing, Navigating and Recognising Urban Spaces - Building An End-to-End {SLAM} System},
    Year = {2007}}
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