Chi Tong

Alumni

EMAIL: chi@robots.ox.ac.uk

Biography

Chi joined the Mobile Robotics Group in October 2013 as a postdoctoral research assistant. His research focus is on perception and planning.

Chi holds a BASc (2008) in Engineering Science (Computer Option) and a PhD (2013), both from the University of Toronto, Canada. His research focused on laser-based 3D mapping and navigation in planetary worksite environments, which resulted in algorithms for nonparametric continuous-time batch state estimation. More information about his previous research activities can be found here.

Current Projects

Chi is currently working on the following research topics:

Online perception for autonomous road vehicles
Experience-based classification
Efficient introspective classification
Energy-efficient planning

Chi’s Google Scholar Page

Publications

2017

C. Gurau, D. Rao, C. H. Tong, and I. Posner, “Learn from Experience: Probabilistic Prediction of Perception Performance to Avoid Failure,” The International Journal of Robotics Research, 2017.
[Bibtex]

@Article{GurauIJRR2017,
author = {Corina Gurau and Dushyant Rao and Chi Hay Tong and Ingmar Posner},
title = {Learn from Experience: Probabilistic Prediction of Perception Performance to Avoid Failure},
journal = {The International Journal of Robotics Research},
year = {2017},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017IJRR_gurau.pdf},
}

2016

C. Gurau, C. H. Tong, and I. Posner, “Fit for purpose? Predicting Perception Performance based on Past Experience,” in International Symposium on Experimental Robotics (ISER), Tokyo, Japan, 2016.
[Bibtex]

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},
}

2015

J. Hawke, C. Gurau, C. H. Tong, and I. Posner, “Wrong Today, Right Tomorrow: Experience-Based Classification for Robot Perception,” in Field and Service Robotics (FSR), Toronto, ON, Canada, 2015.
[Bibtex]

@InProceedings{HawkeFSR2015,
author = {Hawke, Jeffrey and Gurau, Corina and Tong, Chi Hay and Posner, Ingmar},
title = {Wrong Today, Right Tomorrow: Experience-Based Classification for Robot Perception},
booktitle = {{F}ield and {S}ervice {R}obotics ({FSR})},
year = {2015},
address = {Toronto, ON, Canada},
month = {June},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015FSR_hawke.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},
}

P. Ondruska, C. Gurau, L. Marchegiani, C. H. Tong, and I. Posner, “Scheduled Perception for Energy-Efficient Path Following,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
[Bibtex]

@InProceedings{OndruskaICRA2015,
author = {Peter Ondruska and Corina Gurau and Letizia Marchegiani and Chi Hay Tong and Ingmar Posner},
title = {Scheduled Perception for Energy-Efficient Path Following},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2015},
address = {Seattle, WA, USA},
month = {May},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_ondruska.pdf},
}

2014

C. Gurau, J. Hawke, C. H. Tong, and I. Posner, “Learning on the Job: Improving Robot Perception Through Experience,” in Neural Information Processing Systems (NIPS) Workshop on “Autonomously Learning Robots”, Montreal, Quebec, Canada, 2014.
[Bibtex]

@InProceedings{GurauNIPSWorkshop2014,
author = {Corina Gurau and Jeff Hawke and Chi Hay Tong and Ingmar Posner},
title = {Learning on the Job: Improving Robot Perception Through Experience},
booktitle = {Neural Information Processing Systems (NIPS) Workshop on ``Autonomously Learning Robots''},
year = {2014},
address = {Montreal, Quebec, Canada},
month = {12 December},
annote = {full-paper-refereed},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014NIPSWorkshop_gurau.pdf},
keywords = {workshop_posner, Experience Based Classification},
}

Other Publications

2015

S. Anderson, T. D. Barfoot, C. H. Tong, and S. Särkkä, “Batch Nonlinear Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression,” Autonomous Robots, Special Issue on “Robotics Science and Systems”, 2015.
[Bibtex]

@article{anderson_auro2015,
Author = {Sean Anderson and Timothy D. Barfoot and Chi Hay Tong and Simo S\"{a}rkk\"{a}},
Doi = {10.1007/s10514-015-9455-y},
Journal = {Autonomous Robots, Special Issue on ``Robotics Science and Systems''},
Title = {Batch Nonlinear Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression},
Year = {2015}}

P. Furgale, C. H. Tong, T. D. Barfoot, and G. Sibley, “Continuous-Time Batch Trajectory Estimation using Temporal Basis Functions,” International Journal of Robotics Research (IJRR), 2015.
[Bibtex]

@article{furgale_ijrr2015,
Author = {Paul Furgale and Chi Hay Tong and Timothy D. Barfoot and Gabe Sibley},
Doi = {10.1177/0278364915585860},
Journal = {International Journal of Robotics Research (IJRR)},
Title = {Continuous-Time Batch Trajectory Estimation using Temporal Basis Functions},
Year = {2015}}

2014

T. D. Barfoot, C. H. Tong, and S. Särkkä, “Batch Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression,” in Proceedings of Robotics: Science and Systems (RSS), Berkeley, USA, 2014.
[Bibtex]

@inproceedings{barfoot_rss2014,
Address = {Berkeley, USA},
Author = {Barfoot, Timothy D. and Tong, Chi Hay and S\"{a}rkk\"{a}, Simo},
Booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
Month = {12-16 July},
Pdf = {https://dl.dropboxusercontent.com/u/20861605/bib/barfoot_rss2014.pdf},
Title = {Batch Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression},
Year = {2014}}

C. H. Tong, S. Anderson, H. Dong, and T. D. Barfoot, “Pose Interpolation for Laser-Based Visual Odometry,” Journal of Field Robotics, Special Issue on “Field and Service Robotics”, vol. 31, iss. 5, p. 729–860, 2014.
[Bibtex]

@article{tong_jfr2014,
Author = {Tong, Chi Hay and Anderson, Sean and Dong, Hang and Barfoot, Timothy D.},
Doi = {10.1002/rob.21537},
Journal = {Journal of Field Robotics, Special Issue on ``Field and Service Robotics''},
Month = {September/October},
Number = {5},
Pages = {729--860},
Title = {Pose Interpolation for Laser-Based Visual Odometry},
Volume = {31},
Year = {2014}}

2013

T. D. Barfoot, C. McManus, S. Anderson, H. Dong, E. Beerepoot, C. H. Tong, P. Furgale, J. D. Gammell, and J. Enright, “Into Darkness: Visual Navigation based on a Lidar-Intensity-Image Pipeline,” in Proceedings of the International Symposium on Robotics Research (ISRR), Singapore, 2013.
[Bibtex]

@inproceedings{barfoot_isrr2013,
Address = {Singapore},
Author = {Timothy D. Barfoot and Colin McManus and Sean Anderson and Hang Dong and Erik Beerepoot and Chi Hay Tong and Paul Furgale and Jonathan D. Gammell and John Enright},
Booktitle = {Proceedings of the International Symposium on Robotics Research (ISRR)},
Month = {16-19 December},
Pdf = {http://asrl.utias.utoronto.ca/~jdg/sbib/barfoot_isrr13.pdf},
Title = {Into Darkness: Visual Navigation based on a Lidar-Intensity-Image Pipeline},
Year = {2013}}

L. Berczi, J. D. Gammell, C. H. Tong, M. Daly, and T. D. Barfoot, “A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars,” in Proceedings of the 10th Conference on Computer and Robot Vision (CRV), Regina, Saskatchewan, Canada, 2013, p. 29–36.
[Bibtex]

@inproceedings{berczi_crv2013,
Address = {Regina, Saskatchewan, Canada},
Author = {Laszlo-Peter Berczi and Jonathan D. Gammell and Chi Hay Tong and Michael Daly and Timothy D. Barfoot},
Booktitle = {Proceedings of the 10th Conference on Computer and Robot Vision (CRV)},
Doi = {10.1109/CRV.2013.16},
Month = {28-31 May},
Pages = {29--36},
Title = {A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars},
Year = {2013},
Pdf = {http://asrl.utias.utoronto.ca/~jdg/sbib/berczi_crv13.pdf}}

J. D. Gammell, C. H. Tong, P. Berczi, S. Anderson, and T. D. Barfoot, “Rover Odometry Aided by a Star Tracker,” in Proceedings of the IEEE Aerospace Conference, Big Sky, MT, USA, 2013.
[Bibtex]

@inproceedings{gammell_aero2013,
Address = {Big Sky, MT, USA},
Author = {Jonathan D. Gammell and Chi Hay Tong and Peter Berczi and Sean Anderson and Timothy D. Barfoot},
Booktitle = {Proceedings of the IEEE Aerospace Conference},
Doi = {10.1109/AERO.2013.6496953},
Month = {2-9 March},
Title = {Rover Odometry Aided by a Star Tracker},
Year = {2013},
Pdf = {http://asrl.utias.utoronto.ca/~jdg/sbib/gammell_ieeeac13.pdf}}

J. D. Gammell, C. H. Tong, and T. D. Barfoot, “Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation,” in Proceedings of the 10th Conference on Computer and Robot Vision (CRV), Regina, Saskatchewan, Canada, 2013, p. 144–150.
[Bibtex]

@inproceedings{gammell_crv2013,
Address = {Regina, Saskatchewan, Canada},
Author = {Jonathan D. Gammell and Chi Hay Tong and Timothy D. Barfoot},
Booktitle = {Proceedings of the 10th Conference on Computer and Robot Vision (CRV)},
Doi = {10.1109/CRV.2013.37},
Month = {28-31 May},
Pages = {144--150},
Title = {Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation},
Year = {2013},
Pdf = {http://asrl.utias.utoronto.ca/~jdg/sbib/gammell_crv13.pdf}}

C. H. Tong and T. D. Barfoot, “Evaluation of Heterogenous Measurement Outlier Rejection Schemes for Robotic Planetary Worksite Mapping,” Acta Astronautica, vol. 88, p. 146–162, 2013.
[Bibtex]

@article{tong_aa2013,
Author = {Tong, Chi Hay and Barfoot, Timothy D.},
Doi = {10.1016/j.actaastro.2012.08.011},
Journal = {Acta Astronautica},
Month = {July-August},
Pages = {146--162},
Title = {Evaluation of Heterogenous Measurement Outlier Rejection Schemes for Robotic Planetary Worksite Mapping},
Volume = {88},
Year = {2013}}

C. H. Tong and T. D. Barfoot, “Gaussian Process Gauss-Newton for 3D Laser-Based Visual Odometry,” in Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013, p. 5184–5191.
[Bibtex]

@inproceedings{tong_icra2013,
Address = {Karlsruhe, Germany},
Author = {Tong, Chi Hay and Barfoot, Timothy D.},
Booktitle = {Proceedings of the IEEE Conference on Robotics and Automation (ICRA)},
Doi = {10.1109/ICRA.2013.663132},
Month = {6-10 May},
Pages = {5184--5191},
Title = {{Gaussian Process Gauss-Newton} for {3D} Laser-Based Visual Odometry},
Year = {2013}}

C. H. Tong, D. Gingras, K. Larose, T. D. Barfoot, and E. Dupuis, “The Canadian Planetary Emulation Terrain 3D Mapping Dataset,” International Journal of Robotics Research (IJRR), vol. 32, iss. 4, p. 389–395, 2013.
[Bibtex]

@article{tong_ijrr2013a,
Author = {Tong, Chi Hay and Gingras, David and Larose, Kevin and Barfoot, Timothy D. and Dupuis, Erick},
Doi = {10.1177/0278364913478897},
Journal = {International Journal of Robotics Research (IJRR)},
Month = {April},
Number = {4},
Pages = {389--395},
Title = {The {Canadian} Planetary Emulation Terrain {3D} Mapping Dataset},
Volume = {32},
Year = {2013}}

C. H. Tong, P. Furgale, and T. D. Barfoot, “Gaussian Process Gauss-Newton for Non-Parametric Simultaneous Localization and Mapping,” International Journal of Robotics Research (IJRR), vol. 32, iss. 5, p. 507–525, 2013.
[Bibtex]

@article{tong_ijrr2013b,
Author = {Tong, Chi Hay and Furgale, Paul and Barfoot, Timothy D.},
Doi = {10.1177/0278364913478672},
Journal = {International Journal of Robotics Research (IJRR)},
Month = {April},
Number = {5},
Pages = {507--525},
Title = {{Gaussian Process Gauss-Newton} for Non-Parametric Simultaneous Localization and Mapping},
Volume = {32},
Year = {2013}}

C. H. Tong, “Laser-Based 3D Mapping and Navigation in Planetary Worksite Environments,” PhD Thesis, 2013.
[Bibtex]

@phdthesis{tong_phd2013,
Author = {Tong, Chi Hay},
Pdf = {https://dl.dropboxusercontent.com/u/20861605/bib/tong_phd2013.pdf},
School = {University of Toronto},
Title = {Laser-Based {3D} Mapping and Navigation in Planetary Worksite Environments},
Year = {2013}}

T. D. Barfoot, B. E. Stenning, J. D. Gammell, C. H. Tong, C. McManus, L. Berczi, G. R. Osinski, M. Daly, and C. Dickinson, “Place Revisiting for Planetary Rovers: An Enabling Technology and Field Testing of Three Mission Concepts,” in Proceedings of the Planetary Rovers Workshop, IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
[Bibtex]

@inproceedings{barfoot_icra2013,
Address = {Karlsruhe, Germany},
Author = {Timothy D. Barfoot and Braden E. Stenning and Jonathan D. Gammell and Chi Hay Tong and Colin McManus and Laszlo-Peter Berczi and Gordon R. Osinski and Michael Daly and Cameron Dickinson},
Booktitle = {Proceedings of the Planetary Rovers Workshop, IEEE International Conference on Robotics and Automation (ICRA)},
Month = {6-10 May},
Pdf = {http://asrl.utias.utoronto.ca/~jdg/bib/barfoot_icra13.pdf},
Title = {Place Revisiting for Planetary Rovers: An Enabling Technology and Field Testing of Three Mission Concepts},
Year = {2013}}

2012

R. S. Merali, C. H. Tong, J. D. Gammell, J. Bakambu, E. Dupuis, and T. D. Barfoot, “3D Surface Mapping Using a Semi-Autonomous Rover: A Planetary Analog Field Experiment,” in Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Turin, Italy, 2012.
[Bibtex]

@inproceedings{merali_isairas2012,
Address = {Turin, Italy},
Author = {Rehman S. Merali and Chi Hay Tong and Jonathan D. Gammell and Joseph Bakambu and Erik Dupuis and Timothy D. Barfoot},
Booktitle = {Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)},
Month = {4-6 September},
Pdf = {http://asrl.utias.utoronto.ca/~jdg/bib/merali_isairas12.pdf},
Title = {{3D} Surface Mapping Using a Semi-Autonomous Rover: A Planetary Analog Field Experiment},
Year = {2012}}

C. H. Tong, P. Furgale, and T. D. Barfoot, “Gaussian Process Gauss-Newton: Non-Parametric State Estimation,” in Proceedings of the 9th Conference on Computer and Robot Vision (CRV), Toronto, Ontario, Canada, 2012, p. 206–213.
[Bibtex]

@inproceedings{tong_crv2012,
Address = {Toronto, Ontario, Canada},
Author = {Tong, Chi Hay and Furgale, Paul and Barfoot, Timothy D.},
Booktitle = {Proceedings of the 9th Conference on Computer and Robot Vision (CRV)},
Doi = {10.1109/CRV.2012.35},
Month = {27-30 May},
Pages = {206--213},
Title = {{Gaussian Process Gauss-Newton}: Non-Parametric State Estimation},
Year = {2012}}

C. H. Tong, T. D. Barfoot, and E. Dupuis, “Three-dimensional SLAM for Mapping Planetary Work Site Environments,” Journal of Field Robotics, Special issue on “Space Robotics”, vol. 29, iss. 3, p. 381–412, 2012.
[Bibtex]

@article{tong_jfr2012,
Author = {Tong, Chi Hay and Barfoot, Timothy D. and Dupuis, E.},
Doi = {10.1002/ROB.21403},
Journal = {Journal of Field Robotics, Special issue on ``Space Robotics''},
Month = {May/June},
Number = {3},
Pages = {381--412},
Title = {Three-dimensional {SLAM} for Mapping Planetary Work Site Environments},
Volume = {29},
Year = {2012}}

2011

C. H. Tong and T. D. Barfoot, “Batch Heterogeneous Outlier Rejection for Feature-Poor SLAM,” in Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Shanghai, China, 2011, p. 2630–2637.
[Bibtex]

@inproceedings{tong_icra2011a,
Address = {Shanghai, China},
Author = {Tong, Chi Hay and Barfoot, Timothy D.},
Booktitle = {Proceedings of the IEEE Conference on Robotics and Automation (ICRA)},
Doi = {10.1109/ICRA.2011.5979612},
Month = {9-13 May},
Pages = {2630--2637},
Title = {Batch Heterogeneous Outlier Rejection for Feature-Poor {SLAM}},
Year = {2011}}

C. H. Tong and T. D. Barfoot, “A Self-Calibrating Ground-Truth Localization System Using Retroreflective Landmarks,” in Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Shanghai, China, 2011, p. 3601–3606.
[Bibtex]

@inproceedings{tong_icra2011b,
Address = {Shanghai, China},
Author = {Tong, Chi Hay and Barfoot, Timothy D.},
Booktitle = {Proceedings of the IEEE Conference on Robotics and Automation (ICRA)},
Doi = {10.1109/ICRA.2011.5979613},
Month = {9-13 May},
Pages = {3601--3606},
Title = {A Self-Calibrating Ground-Truth Localization System Using Retroreflective Landmarks},
Year = {2011}}

C. H. Tong, T. D. Barfoot, and E. Dupuis, “3D SLAM for Planetary Worksite Mapping,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Invited Symposium on “Field Robotics II”, San Francisco, CA, USA, 2011, p. 631–638.
[Bibtex]

@inproceedings{tong_iros2011,
Address = {San Francisco, CA, USA},
Author = {Tong, Chi Hay and Barfoot, Timothy D. and Dupuis, Erick},
Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Invited Symposium on ``Field Robotics II''},
Doi = {10.1109/IROS.2011.6048242},
Month = {25-30 September},
Pages = {631--638},
Title = {{3D SLAM} for Planetary Worksite Mapping},
Year = {2011}}

2010

C. H. Tong and T. D. Barfoot, “A Comparison of the EKF, SPKF, and the Bayes Filter for Landmark-Based Localization,” in Proceedings of the 7th Conference on Computer and Robot Vision (CRV), Ottawa, Ontario, Canada, 2010, p. 199–206.
[Bibtex]

@inproceedings{tong_crv2010,
Address = {Ottawa, Ontario, Canada},
Author = {Tong, Chi Hay and Barfoot, Timothy D.},
Booktitle = {Proceedings of the 7th Conference on Computer and Robot Vision (CRV)},
Doi = {10.1109/CRV.2010.33},
Month = {31 May - 2 June},
Pages = {199--206},
Title = {A Comparison of the {EKF}, {SPKF}, and the {Bayes} Filter for Landmark-Based Localization},
Year = {2010}}

2008

C. H. Tong, Consistency Comparisons of EKF-SLAM with Investigations into Robust EKF-SLAM, 2008.
[Bibtex]

@misc{tong_basc2008,
Author = {Tong, Chi Hay},
Howpublished = {B.A.Sc. Thesis},
Pdf = {https://dl.dropboxusercontent.com/u/20861605/bib/tong_basc2008.pdf},
School = {University of Toronto},
Title = {Consistency Comparisons of {EKF-SLAM} with Investigations into Robust {EKF-SLAM}},
Year = {2008}}

C. Tong, R. S. Merali, T. D. Barfoot, and G. M. T. D’Eleuterio, “TRACTEUR: Worksite Localization and Mapping Study,” UTIAS – Prepared for MDA Space Missions (under subcontract to the Canadian Space Agency, Exploration Study) 2008.
[Bibtex]

@techreport{tong_mda2008,
Author = {Tong, C. and Merali, R. S. and Barfoot, T. D. and D'Eleuterio, G. M. T.},
Institution = {UTIAS -- Prepared for MDA Space Missions (under subcontract to the Canadian Space Agency, Exploration Study)},
Month = {May},
Title = {{TRACTEUR}: Worksite Localization and Mapping Study},
Year = {2008}}