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.” in International Journal of Computer Vision 2010, pp. 1-17, keywords: “Relative SLAM”.
    [Bibtex]
    @Article{ChristopherMei2010,
    author = {Christopher Mei and Gabe Sibley and Mark Cummins and Paul Newman and Ian Reid},
    title = {RSLAM: A System for Large-Scale Mapping in Constant-Time using Stereo},
    journal = {International Journal of Computer Vision},
    year = {2010},
    pages = {1 - 17},
    month = {June},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2010IJCV_mei.pdf},
    keywords = {Relative SLAM},
    owner = {ashley},
    timestamp = {2011.07.25},
    }
  • [PDF] M. Cummins and P. Newman, “Appearance-only SLAM at Large Scale with FAB-MAP 2.0.” in The International Journal of Robotics Research 2010, keywords: “Topological Mapping and Loop Closing With Vision and FABMAP”.
    [Bibtex]
    @Article{Cummins2010,
    author = {Mark Cummins and Paul Newman},
    title = {Appearance-only SLAM at Large Scale with FAB-MAP 2.0},
    journal = {The International Journal of Robotics Research},
    year = {2010},
    month = {November},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2010IJRR_cummins.pdf},
    keywords = {Topological Mapping and Loop Closing With Vision and FABMAP},
    owner = {ashley},
    timestamp = {2011.07.25},
    }
  • [PDF] M. Cummins and P. Newman, “Accelerating FAB-MAP with Concentration Inequalities.” in IEEE Transactions on Robotics 2010, vol. 26, keywords: “Topological Mapping and Loop Closing With Vision and FABMAP”.
    [Bibtex]
    @Article{Cummins2010a,
    author = {Mark Cummins and Paul Newman},
    title = {Accelerating FAB-MAP with Concentration Inequalities},
    journal = {IEEE Transactions on Robotics},
    year = {2010},
    volume = {26},
    number = {6},
    month = {December},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2010TOR_cummins.pdf},
    keywords = {Topological Mapping and Loop Closing With Vision and FABMAP},
    owner = {cummins},
    timestamp = {2011.07.25},
    }

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, keywords: “Topological Mapping and Loop Closing With Vision and FABMAP”.
    [Bibtex]
    @InProceedings{CumminsNewmanRSS09,
    author = {Mark Cummins and Paul Newman,},
    title = {Highly Scalable Appearance-Only SLAM {\~n} FAB-MAP 2.0},
    booktitle = {Robotics Science and Systems (RSS)},
    year = {2009},
    address = {Seattle, USA},
    month = {June},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/FABMAP 2.0 RSS 2009.pdf},
    keywords = {Topological Mapping and Loop Closing With Vision and FABMAP},
    }
  • [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, keywords: “Relative SLAM”.
    [Bibtex]
    @InProceedings{mei09,
    author = {Christopher Mei and Gabe Sibley and Mark Cummins and Paul Newman and Ian Reid},
    title = {A Constant Time Efficient Stereo SLAM System},
    booktitle = {Proceedings of the British Machine Vision Conference (BMVC)},
    year = {2009},
    address = {London},
    month = {September},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/AConstantTimeEfficientStereoSLAMSystem_mei_bmvc_09.pdf},
    keywords = {Relative SLAM},
    }
  • 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, keywords: “Topological Mapping and Loop Closing With Vision”.
    [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.” in The International Journal of Robotics Research 2009, vol. 28, DOI: 10.1177/0278364909341483, keywords: “Urban Classification and, journal_posner”.
    [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},
    title = {Navigating, Recognising and Describing Urban Spaces With Vision and Laser},
    journal = {The International Journal of Robotics Research},
    year = {2009},
    volume = {28},
    month = {October},
    bdsk-url-1 = {http://dx.doi.org/10.1177/0278364909341483},
    doi = {10.1177/0278364909341483},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/1406-1433 ijr-341483_Low.pdf},
    keywords = {Urban Classification and, journal_posner},
    }
  • [PDF] [DOI] I. Posner, M. Cummins, and P. Newman, “A generative framework for fast urban labeling using spatial and temporal context.” in Autonomous Robots 2009, vol. 26, pp. 153-170, DOI: 10.1007/s10514-009-9110-6, keywords: “Urban Classification, journal_posner” (link).
    [Bibtex]
    @Article{PosnerEtAl:AuRo09,
    author = {Ingmar Posner and Mark Cummins and Paul Newman},
    title = {A generative framework for fast urban labeling using spatial and temporal context},
    journal = {Autonomous Robots},
    year = {2009},
    volume = {26},
    number = {2-3},
    pages = {153-170},
    month = {April},
    bdsk-url-1 = {http://dx.doi.org/10.1007/s10514-009-9110-6},
    doi = {10.1007/s10514-009-9110-6},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/AURO09_Preprint.pdf},
    keywords = {Urban Classification, journal_posner},
    url = {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, keywords: “SLAM and FABMAP and Loop Closure Bayesian Appearance”.
    [Bibtex]
    @InProceedings{Cummins08ICRA,
    author = {Mark Cummins and Paul Newman},
    title = {Accelerated Appearance-Only {SLAM}},
    booktitle = {Proc. {IEEE} International Conference on Robotics and Automation{(ICRA'08)}},
    year = {2008},
    address = {Pasadena, California},
    month = {April},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/MJC_ICRA_2008.pdf},
    keywords = {SLAM and FABMAP and Loop Closure Bayesian Appearance},
    }
  • [PDF] [DOI] M. Cummins and P. Newman, “FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance.” in The International Journal of Robotics Research 2008, vol. 27, pp. 647-665, ePrint: http://ijr.sagepub.com/cgi/reprint/27/6/647.pdf, DOI: 10.1177/0278364908090961, keywords: “FABMAP and Loop Closure Bayesian Appearance and FABMAP Dataset” (link).
    [Bibtex]
    @Article{CumminsIJRR08,
    author = {Mark Cummins and Paul Newman},
    title = {{FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance}},
    journal = {The International Journal of Robotics Research},
    year = {2008},
    volume = {27},
    number = {6},
    pages = {647-665},
    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.},
    bdsk-url-1 = {http://ijr.sagepub.com/cgi/content/abstract/27/6/647},
    bdsk-url-2 = {http://dx.doi.org/10.1177/0278364908090961},
    doi = {10.1177/0278364908090961},
    eprint = {http://ijr.sagepub.com/cgi/reprint/27/6/647.pdf},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/IJRR_2008_FabMap.pdf},
    keywords = {FABMAP and Loop Closure Bayesian Appearance and FABMAP Dataset},
    url = {http://ijr.sagepub.com/cgi/content/abstract/27/6/647},
    }
  • [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, keywords: “Urban Classification and FABMAP, conference_posner”.
    [Bibtex]
    @InProceedings{PosnerRSS08,
    author = {Ingmar Posner and Mark Cummins and Paul Newman},
    title = {Fast Probabilistic Labeling of City Maps},
    booktitle = {Proceedings of Robotics: Science and Systems IV},
    year = {2008},
    address = {Zurich, Switzerland},
    month = {June},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/LabellingRSS08.pdf},
    keywords = {Urban Classification and FABMAP, conference_posner},
    }
  • [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, keywords: “Topological Mapping and Loop Closing With Vision”.
    [Bibtex]
    @InProceedings{WilliamsIROS08,
    author = {Brian Williams and Mark Cummins and Jos{\`E} Neira and Paul Newman and Ian Reid and Juan D. Tardos},
    title = {An image-to-map loop closing method for monocular SLAM},
    booktitle = {Proc. International Conference on Intelligent Robots and and Systems},
    year = {2008},
    address = {Nice, France},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/williams_etal_iros2008.pdf},
    keywords = {Topological Mapping and Loop Closing With Vision},
    }

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, keywords: “FABMAP and Loop Closure Bayesian Appearance”.
    [Bibtex]
    @InProceedings{Cummins07ICRA,
    author = {Mark Cummins and Paul Newman},
    title = {Probabilistic Appearance Based Navigation and Loop Closing},
    booktitle = {Proc. {IEEE} International Conference on Robotics and Automation{(ICRA'07)}},
    year = {2007},
    address = {Rome},
    month = {April},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/ICRA_2007_Bayesian_Loop_Closure.pdf},
    keywords = {FABMAP and Loop Closure Bayesian Appearance},
    }
  • [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, keywords: “Assesing Map Quality, conference_posner”.
    [Bibtex]
    @InProceedings{newman07isrr,
    author = {Paul Newman and Manjari Chandran-Ramesh and Dave Cole and Mark Cummins and Alastair Harrison and Ingmar Posner and Derik Schroeter},
    title = {Describing, Navigating and Recognising Urban Spaces - Building An End-to-End {SLAM} System},
    booktitle = {Proc. of the Int. Symposium of Robotics Research {(ISRR)}},
    year = {2007},
    address = {Hiroshima,Japan},
    month = {November},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/ISRR07paper.pdf},
    keywords = {Assesing Map Quality, conference_posner},
    }