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

2019

  • [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 arXiv preprint arXiv: 1909.01300 2019 (link).
    [Bibtex]
    @Article{RadarRobotCarDatasetArXiv,
    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},
    journal = {arXiv preprint arXiv: 1909.01300},
    year = {2019},
    pdf = {https://arxiv.org/pdf/1909.01300.pdf},
    url = {https://arxiv.org/pdf/1909.01300},
    }
  • [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 (link).
    [Bibtex]
    @article{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}
    }

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 (link).
    [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 (link).
    [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},
    }

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},
    }