Dan joined the Oxford Robotics Institute as a DPhil student in 2015 after completing his undergraduate studies in Engineering Science at Keble College. Dan’s Masters research project was also with ORI working on online traffic light detection.

His research currently focuses on robot perception and planning for autonomous vehicles including: object detection in continuous 3D data, path planning in complex urban environments and GPU based dense disparity estimation.

Publications

2020

  • [PDF] D. Barnes, M. Gadd, P. Murcutt, P. Newman, and I. Posner, “The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, 2020.
    [Bibtex]
    @inproceedings{RadarRobotCarDatasetICRA2020,
    address = {Paris},
    author = {Barnes, Dan and Gadd, Matthew and Murcutt, Paul and Newman, Paul and Posner, Ingmar},
    title = {The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    url = {https://arxiv.org/abs/1909.01300},
    pdf = {https://arxiv.org/pdf/1909.01300.pdf},
    year = {2020}
    }
  • [PDF] S. Saftescu, M. Gadd, D. De Martini, D. Barnes, and P. Newman, “Kidnapped Radar: Topological Radar Localisation using Rotationally-Invariant Metric Learning,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, 2020.
    [Bibtex]
    @InProceedings{KidnappedRadarArXiv,
    author = {Saftescu, Stefan and Gadd, Matthew and De Martini, Daniele and Barnes, Dan and Newman, Paul},
    title = {{Kidnapped Radar: Topological Radar Localisation using Rotationally-Invariant Metric Learning}},
    booktitle = {{Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)}},
    url = {https://arxiv.org/abs/2001.09438},
    pdf = {https://arxiv.org/pdf/2001.09438.pdf},
    address = {Paris},
    year = {2020},
    }
  • [PDF] D. Barnes and I. Posner, “Under the Radar: Learning to Predict Robust Keypoints for Odometry Estimation and Metric Localisation in Radar,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, 2020.
    [Bibtex]
    @inproceedings{UnderTheRadarICRA2020,
    address = {Paris},
    author = {Barnes, Dan and Posner, Ingmar},
    title = {Under the Radar: Learning to Predict Robust Keypoints for Odometry Estimation and Metric Localisation in Radar},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    url = {https://arxiv.org/abs/2001.10789},
    pdf = {https://arxiv.org/pdf/2001.10789.pdf},
    year = {2020}
    }
  • [PDF] [DOI] T. Y. Tang, D. De Martini, D. Barnes, and P. Newman, “RSL-Net: Localising in Satellite Images From a Radar on the Ground,” IEEE Robotics and Automation Letters, vol. 5, iss. 2, pp. 1087-1094, 2020.
    [Bibtex]
    @article{tang2020rsl,
    title={{RSL-Net: Localising in Satellite Images From a Radar on the Ground}},
    author={Tang, Tim Y and De Martini, Daniele and Barnes, Dan and Newman, Paul},
    journal={IEEE Robotics and Automation Letters},
    year={2020},
    volume={5},
    number={2},
    pages={1087-1094},
    keywords={Autonomous vehicle navigation;deep learning in robotics and automation;localization;range sensing},
    doi={10.1109/LRA.2020.2965907},
    ISSN={2377-3774},
    month={April},
    url={https://ieeexplore.ieee.org/document/8957240},
    pdf={https://ieeexplore.ieee.org/document/8957240},
    }
  • [PDF] W. Maddern, G. Pascoe, M. Gadd, D. Barnes, B. Yeomans, and P. Newman, “Real-time Kinematic Ground Truth for the Oxford RobotCar Dataset,” arXiv preprint arXiv: 2002.10152, 2020.
    [Bibtex]
    @article{RCDRTKArXiv,
    author = {Will Maddern and Geoffrey Pascoe and Matthew Gadd and Dan Barnes and Brian Yeomans and Paul Newman},
    title = {{Real-time Kinematic Ground Truth for the Oxford RobotCar Dataset}},
    journal = {arXiv preprint arXiv: 2002.10152},
    url = {https://arxiv.org/pdf/2002.10152},
    pdf = {https://arxiv.org/pdf/2002.10152.pdf},
    year = {2020}
    }

2019

  • [PDF] D. Barnes, R. Weston, and I. Posner, “Masking by Moving: Learning Distraction-Free Radar Odometry from Pose Information,” in Conference on Robot Learning (CoRL), 2019.
    [Bibtex]
    @InProceedings{Barnes2019MaskingByMoving,
    author = {Barnes, Dan and Weston, Rob and Posner, Ingmar},
    title = {Masking by Moving: Learning Distraction-Free Radar Odometry from Pose Information},
    booktitle = {{C}onference on {R}obot {L}earning ({CoRL})},
    url = {https://arxiv.org/pdf/1909.03752},
    pdf = {https://arxiv.org/pdf/1909.03752.pdf},
    year = {2019}
    }
  • [PDF] M. R. Balme, M. C. Curtis-Rouse, S. Banham, D. Barnes, R. Barnes, A. Bauer, C. C. Bedford, J. C. Bridges, F. E. G. Butcher, P. Caballo, A. Caldwell, A. J. Coates, C. Cousins, J. M. Davis, J. Dequaire, P. Edwards, P. Fawdon, K. Furuya, M. Gadd, P. Get, A. Griffiths, P. M. Grindrod, M. Gunn, S. Gupta, R. Hansen, J. K. Harris, L. J. Hicks, J. Holt, B. Huber, C. Huntly, I. Hutchinson, L. Jackson, S. Kay, S. Kyberd, H. N. Lerman, M. McHugh, W. J. McMahon, J. P. Muller, T. Ortner, G. Osinski, G. Paar, L. J. Preston, S. P. Schwenzer, R. Stabbins, Y. Tao, C. Traxler, S. Turner, L. Tyler, S. Venn, H. Walker, T. Wilcox, J. Wright, and B. Yeomans, “The 2016 UK Space Agency Mars Utah Rover Field Investigation (MURFI),” Planetary and Space Science, vol. 165, pp. 31-56, 2019.
    [Bibtex]
    @article{oro58259,
    title = {{The 2016 UK Space Agency Mars Utah Rover Field Investigation (MURFI)}},
    author = {M. R. Balme and M. C. Curtis-Rouse and S. Banham and D. Barnes and R. Barnes and A. Bauer and C. C. Bedford and J.C. Bridges and F. E. G. Butcher and P. Caballo and A. Caldwell and A. J. Coates and C. Cousins and J. M. Davis and J. Dequaire and P. Edwards and P. Fawdon and K. Furuya and M. Gadd and P. Get and A. Griffiths and P. M. Grindrod and M. Gunn and S. Gupta and R. Hansen and J. K. Harris and L. J. Hicks and J. Holt and B. Huber and C. Huntly and I. Hutchinson and L. Jackson and S. Kay and S. Kyberd and H. N. Lerman and M. McHugh and W. J. McMahon and J. P. Muller and T. Ortner and G. Osinski and G. Paar and L. J. Preston and S. P. Schwenzer and R. Stabbins and Y. Tao and C. Traxler and S. Turner and L. Tyler and S. Venn and H. Walker and T. Wilcox and J. Wright and B. Yeomans},
    year = {2019},
    month = {January},
    journal = {Planetary and Space Science},
    volume = {165},
    pages = {31-56},
    pdf={http://oro.open.ac.uk/58259/1/MURFI_Accepted_version.pdf}
    }

2018

  • [PDF] D. Barnes, W. Maddern, G. Pascoe, and I. Posner, “Driven to Distraction: Self-Supervised Distractor Learning for Robust Monocular Visual Odometry in Urban Environments,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, 2018.
    [Bibtex]
    @InProceedings{BarnesICRA2018,
    author = {Barnes, Dan and Maddern, Will and Pascoe, Geoffrey and Posner, Ingmar},
    title = {Driven to Distraction: Self-Supervised Distractor Learning for Robust Monocular Visual Odometry in Urban Environments},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2018},
    address = {Brisbane},
    month = {May},
    pdf = {https://arxiv.org/pdf/1711.06623.pdf},
    url = {https://arxiv.org/abs/1711.06623},
    }

2017

  • [PDF] B. Yeomans, H. Porav, M. Gadd, D. Barnes, J. Dequaire, T. Wilcox, S. Kyberd, S. Venn, and P. Newman, “MURFI 2016 – From Cars to Mars: Applying Autonomous Vehicle Navigation Methods To a Space Rover Mission,” in Proceedings of the 14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), Leiden, Netherlands, 2017.
    [Bibtex]
    @InProceedings{BrianYeomansASTRA2017,
    author = {Yeomans, Brian and Porav, Horia and Gadd, Matthew and Barnes, Dan and Dequaire, Julie and Wilcox, Tom and Kyberd, Stephen and Venn, Simon and Newman, Paul},
    title = {MURFI 2016 - From Cars to Mars: Applying Autonomous Vehicle Navigation Methods To a Space Rover Mission},
    booktitle = {Proceedings of the 14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)},
    year = {2017},
    address = {Leiden, Netherlands},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017ASTRA_yeomans.pdf},
    }
  • [PDF] D. Barnes, W. Maddern, and I. Posner, “Find Your Own Way: Weakly-Supervised Segmentation of Path Proposals for Urban Autonomy,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]
    @InProceedings{BarnesICRA2017,
    author = {Barnes, Dan and Maddern, Will and Posner, Ingmar},
    title = {{Find Your Own Way: Weakly-Supervised Segmentation of Path Proposals for Urban Autonomy}},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2017},
    address = {Singapore},
    month = {June},
    pdf = {https://arxiv.org/pdf/1610.01238.pdf},
    url = {https://arxiv.org/abs/1610.01238},
    }
  • [PDF] M. R. Balme, M. C. Curtis-Rouse, S. Banham, D. Barnes, R. Barnes, A. Bauer, C. Bedford, J. Bridges, F. E. G. Butcher, P. Caballo, A. Caldwell, A. Coates, C. Cousins, J. Davis, J. Dequaire, P. Edwards, P. Fawdon, K. Furuya, M. Gadd, P. Get, A. Griffiths, P. M. Grindrod, M. Gunn, S. Gupta, R. Hansen, J. K. Harris, J. Holt, B. Huber, C. Huntly, I. Hutchinson, L. Jackson, S. Kay, S. Kybert, H. N. Lerman, M. McHugh, W. McMahon, J. P. Muller, G. Paar, L. J. Preston, S. Schwenzer, R. Stabbins, Y. Tao, C. Traxler, S. Turner, L. Tyler, S. Venn, H. Walker, J. Wright, and B. Yeomans, “UK Space Agency Mars Utah Rover Field Investigation 2016 (MURFI 2016): Overview of mission, aims and progress,” in 48th Lunar and Planetary Science Conference (LPSC), The Woodlands, TX, USA, 2017.
    [Bibtex]
    @inproceedings{oro48661,
    booktitle = {48th Lunar and Planetary Science Conference (LPSC)},
    title = {{UK Space Agency Mars Utah Rover Field Investigation 2016 (MURFI 2016): Overview of mission, aims and progress}},
    author = {M. R. Balme and M. C. Curtis-Rouse and S. Banham and D. Barnes and R. Barnes and A. Bauer and C. Bedford and J. Bridges and F. E. G. Butcher and P. Caballo and A. Caldwell and A. Coates and C. Cousins and J. Davis and J. Dequaire and P. Edwards and P. Fawdon and K. Furuya and M. Gadd and P. Get and A. Griffiths and P. M. Grindrod and M. Gunn and S. Gupta and R. Hansen and J. K. Harris and J. Holt and B. Huber and C. Huntly and I. Hutchinson and L. Jackson and S. Kay and S. Kybert and H. N. Lerman and M. McHugh and W. McMahon and J. P. Muller and G. Paar and L. J. Preston and S. Schwenzer and R. Stabbins and Y. Tao and C Traxler and S. Turner and L. Tyler and S. Venn and H. Walker and J. Wright and B. Yeomans},
    month = {March},
    year = {2017},
    address = {The Woodlands, TX, USA},
    pdf={http://oro.open.ac.uk/48661/1/Balme_et_al_1837.pdf}
    }

2015

  • [PDF] D. Barnes, W. Maddern, and I. Posner, “Exploiting 3D Semantic Scene Priors for Online Traffic Light Interpretation,” in Proceedings of the IEEE Intelligent Vehicles Symposium (IV), Seoul, South Korea, 2015.
    [Bibtex]
    @InProceedings{BarnesIV2015,
    author = {Barnes, Dan and Maddern, Will and Posner, Ingmar},
    title = {{E}xploiting {3D} {S}emantic {S}cene {P}riors for {O}nline {T}raffic {L}ight {I}nterpretation},
    booktitle = {{P}roceedings of the {IEEE} {I}ntelligent {V}ehicles {S}ymposium ({IV})},
    year = {2015},
    address = {Seoul, South Korea},
    month = {June},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015IV_barnes.pdf},
    }