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

Space

Our Space Robot is a Q14 robot from Advanced Robotics Concepts. With active 4 wheel steering
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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,
    author = {Dequaire, Julie and Tong, Chi Hay and Churchill, Winston and Posner, Ingmar},
    title = {Off the Beaten Track: Predicting Localisation Performance in Visual Teach and Repeat},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2016},
    address = {Stockholm, Sweden},
    month = {May},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2016ICRA_dequaire.pdf},
    }
  • [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,
    author = {Linegar, Chris and Churchill, Winston and Newman, Paul},
    title = {Made to Measure: Bespoke Landmarks for 24-Hour, All-Weather Localisation with a Camera},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2016},
    address = {Stockholm, Sweden},
    month = {May},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2016ICRA_Linegar.pdf},
    }

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,
    author = {Nelson, Peter and Churchill, Winston and Posner, Ingmar and Newman, Paul},
    title = {{F}rom {D}usk till {D}awn: {L}ocalisation at {N}ight using {A}rtificial {L}ight {S}ources},
    booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    year = {2015},
    address = {Seattle, WA, USA},
    month = {May},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_Nelson.pdf},
    }
  • [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,
    author = {Linegar, Chris and Churchill, Winston and Newman, Paul},
    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},
    booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    year = {2015},
    address = {Seattle, WA, USA},
    month = {May},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_Linegar.pdf},
    }
  • [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,
    author = {Churchill, Winston and Tong, Chi Hay and Gurau, Corina and Posner, Ingmar and Newman, Paul},
    title = {{K}now {Y}our {L}imits: {E}mbedding {L}ocaliser {P}erformance {M}odels in {T}each and {R}epeat {M}aps},
    booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    year = {2015},
    address = {Seattle, WA, USA},
    month = {May},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_Churchill.pdf},
    }

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,
    author = {Will Maddern and Alex Stewart and Colin McManus and Ben Upcroft and Winston Churchill and Paul Newman},
    title = {Illumination Invariant Imaging: Applications in Robust Vision-based Localisation, Mapping and Classification for Autonomous Vehicles},
    booktitle = {Proceedings of the Visual Place Recognition in Changing Environments Workshop, IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2014},
    address = {Hong Kong, China},
    month = {May},
    date-added = {2014-04-29 01:10:22 +0000},
    date-modified = {2014-04-29 01:12:06 +0000},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014ICRA_maddern.pdf},
    }
  • [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,
    author = {Ben Upcroft and Colin McManus and Winston Churchill and Will Maddern and Paul Newman},
    title = {Lighting Invariant Urban Street Classification},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2014},
    address = {Hong Kong, China},
    month = {May},
    date-added = {2014-02-12 18:47:43 +0000},
    date-modified = {2014-02-12 18:51:28 +0000},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014ICRA_upcroft.pdf},
    }
  • [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,
    author = {Colin McManus and Winston Churchill and Will Maddern and Alex Stewart and Paul Newman},
    title = {Shady Dealings: Robust, Long- Term Visual Localisation using Illumination Invariance},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2014},
    address = {Hong Kong, China},
    month = {May},
    date-added = {2014-02-12 18:44:35 +0000},
    date-modified = {2014-02-12 18:51:19 +0000},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014ICRA_McManus.pdf},
    }

2013

  • [PDF] W. Churchill and P. Newman, “Experience-based Navigation for Long-term Localisation.” in The International Journal of Robotics Research (IJRR) 2013, keywords: “Experience Based Navigation”.
    [Bibtex]
    @Article{ChurchillIJRR2013,
    author = {Winston Churchill and Paul Newman},
    title = {{E}xperience-based {N}avigation for {L}ong-term {L}ocalisation},
    journal = {The International Journal of Robotics Research (IJRR)},
    year = {2013},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2013IJRR_Churchill.pdf},
    keywords = {Experience Based Navigation},
    }
  • [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},
    title = {Dealing with Shadows: Capturing Intrinsic Scene Appearance for Image-based Outdoor Localisation},
    booktitle = {Proc. of the International Conference on Intelligent Robots and Systems (IROS)},
    year = {2013},
    month = {November},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2013IROS_corke.pdf},
    }
  • [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, keywords: “Experience Based Navigation”.
    [Bibtex]
    @InProceedings{McManusICRA2013,
    author = {Colin McManus and Winston Churchill and Ashley Napier and Ben Davis and and Paul Newman},
    title = {Distraction Suppression for Vision-Based Pose Estimation at City Scales},
    booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2013},
    address = {Karlsruhe, Germany},
    month = {May},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2013ICRA_cm.pdf},
    keywords = {Experience Based Navigation},
    }

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, keywords: “Experience Based Navigation”.
    [Bibtex]
    @InProceedings{ChurchillITSC2012,
    author = {Winston Churchill and Paul Newman},
    title = {Continually Improving Large Scale Long Term Visual Navigation of a Vehicle in Dynamic Urban Environments},
    booktitle = {Proc. IEEE Intelligent Transportation Systems Conference (ITSC)},
    year = {2012},
    address = {Anchorage, USA},
    month = {September},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2012ITSC_wsc.pdf},
    keywords = {Experience Based Navigation},
    }
  • [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, keywords: “Experience Based Navigation”.
    [Bibtex]
    @InProceedings{WinstonICRA2012,
    author = {Winston Churchill and Paul Newman},
    title = {Practice Makes Perfect? Managing and Leveraging Visual Experiences for Lifelong Navigation},
    booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2012},
    address = {Minnesota, USA},
    month = {May},
    date-added = {2012-02-24 19:27:23 +0000},
    date-modified = {2012-03-06 10:12:36 +0000},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2012ICRA_wsc.pdf},
    keywords = {Experience Based Navigation},
    owner = {Winston},
    timestamp = {2012.02.02},
    }

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] M. Smith, I. Baldwin, W. Churchill, R. Paul, and P. Newman, “The New College Vision and Laser Data Set.” in The International Journal of Robotics Research 2009, vol. 28, pp. 595-599, ISSN: 0921-8890, DOI: DOI: 10.1177/0278364909103911, keywords: “Data Paper and 3D Laser Aquisition and 3D Laser Acquisition and Fusing Vision and Laser” (link).
    [Bibtex]
    @Article{SmithEtAl:IJRR09,
    author = {Mike Smith and Ian Baldwin and Winston Churchill and Rohan Paul and Paul Newman},
    title = {The New College Vision and Laser Data Set},
    journal = {The International Journal of Robotics Research},
    year = {2009},
    volume = {28},
    number = {5},
    pages = {595 - 599},
    month = {May},
    issn = {0921-8890},
    note = {Data Papers ¬{\'o} Peer Reviewed Publication of High Quality Data Sets},
    bdsk-url-1 = {http://www.robots.ox.ac.uk/NewCollegeData/},
    bdsk-url-2 = {http://dx.doi.org/10.1177/0278364909103911},
    doi = {DOI: 10.1177/0278364909103911},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/IJRRDataPaper09.pdf},
    keywords = {Data Paper and 3D Laser Aquisition and 3D Laser Acquisition and Fusing Vision and Laser},
    url = {http://www.robots.ox.ac.uk/NewCollegeData/},
    }