Publications

Aalok Patwardhan, Riku Murai, Andrew J. Davison. Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation. arXiv, 2022 patwardhan_etal_arXiv2022(pdf) Archive Link Video Link‌

Shikun Liu, Shuaifeng Zhi, Edward Johns,Andrew J. Davison. Bootstarpping Semantic Segmentation with Regional Contrast. ICLR, 2022 shikunLiu_etal_iclr2022(pdf)

Kentaro Wada, Stephen James, Andrew J. Davison. ReorientBot: Learning Object Reorientation for Specific-Posed Placement. ICRA, 2022 wada_etal_ICRA2022(pdf) Archive Link Video Link
Kentaro Wada, Stephen James, Andrew J. Davison. SafePicking: Learning safe object extraction via object-level mapping. ICRA, 2022 wada_etal_safepicking_ICRA2022(pdf) Archive Link Video Link
Raluca Scona, Hidenobu Matsuki, Andrew J. Davison. From Scene Flow to Visual Odometry Through Local and Global Regularisation in Markov Random Fields. ICRA, 2022 Scona_etal_ICRA2022(pdf) Video Link‌
Stephen James, Andrew J. Davison. Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulation. ICRA, 2022 Archive Link Video Link

Shuaifeng Zhi, Edgar Sucar, Andre Mouton, Iain Haughton, Tristan Laidlow, Andrew J. Davison. ILabel: Interactive Neural Scene Labelling. arXiv, 2021 shuaifeng_etal_arXiv2021(pdf) Archive Link Video Link‌ Project Page

Shuaifeng Zhi, Tristan Laidlow, Stefan Leutenegger, Andrew J. Davison. In-Place Scene Labelling and Understanding with Implicit Scene Representation. ICCV, 2021 szhi_etal_iccv2021.pdf Archive Link Video Link‌

Zoe Landgraf, Raluca Scona, Tristan Laidlow, Stephen James, Stefan Leutenegger, Andrew J. Davison. SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks. ICCV, 2021 Archive Link Video Link

Edgar Sucar, Shikun Liu, Joseph Ortiz, Andrew J. Davison. iMAP: Implicit Mapping and Positioning in Real Time. ICCV, 2021 Archive Link Video Link

Hidenobu Matsuki, Raluca Scona, Jan Czarnowski, Andrew J. Davison. CodeMapping: Real-Time Dense Mapping for Sparse SLAM Using Compact Scene Representations. IROS2021 and RA-L21 Archive Link Video Link

Stephen James, Kentaro Wada, Tristan Laidlow, Andrew J. Davison. Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via Discretisation. arXiv:2106.12534, 2021 Archive Link Video Link

Stephen James, Andrew J. Davison. Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulation. arXiv:2105.14829, 2021 Archive Link Video Link

Shikun Liu, Shuaifeng Zhi, Edward Johns, Andrew J. Davison. Bootstrapping Semantic Segmentation with Regional Contrast. arXiv:2104.04465, 2021 Archive Link

Daniel Lenton, Stephen James, Ronald Clark, Andrew J. Davison. END-TO-END Egospheric Spatial Memory. ICLR2021 Archive Link Video Link

Edgar Sucar, Kentaro Wada, Andrew J. Davison. NodeSLAM: Neural Object Descriptors for Multi-View Shape Reconstruction. 3DV2021 Archive Link Video Link

Kentaro Wada, Edgar Sucar, Stephen James, Daniel Lenton and Andrew J. Davison. MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusion. CVPR2020 Archive Link Video Link

Jan Czarnowski, Tristan Laidlow, Ronald Clark, Andrew J. Davison. DeepFactors: Real-Time Probabilistic Dense Monocular SLAM. ICRA2020 and RA-L019 Archive Link Video Link

Tristan Laidlow, Jan Czarnowski, Andrea Nicastro, Ronald Clark, Stefan Leutenegger. Towards the Probabilistic Fusion of Learned Priors into Standard Pipelines for 3D Reconstruction. ICRA2020 tlaidlow_etal_icra2020.pdf

Zoe Landgraf, Fabian Falck, Michael Bloesch, Stefan Leutenegger, Andrew Davison. Comparing View-Based and Map-Based Semantic Labelling in Real-Time SLAM. ICRA2020 Archive Link Video Link‌‌‌‌‌‌‌‌‌‌‌

Stephen James, Zicong Ma, David Rovick Arrojo, Andrew J. Davison. RLBench: The Robot Learning Benchmark & Learning Environment. ICRA2020 and RA-L019 james_etal_2019 Video Link‌‌‌‌‌‌‌‌‌‌‌

Alessandro Bonardi, Stephen James, Andrew J. Davison. Learning One-Shot Imitation from Humans without Humans. ICRA2020 and RA-L019 Archive Link Video Link‌‌‌‌‌‌‌‌‌‌‌

Stephen James, Zicong Ma, David Rovick Arrojo, Andrew J. Davison. RLBench: The Robot Learning Benchmark & Learning Environment. 2019 james_etal_2019 Video Link‌‌‌‌‌‌‌‌‌‌‌

Michael Bloesch, Tristan Laidlow, Ronald Clark, Stefan Leutenegger, Andrew J. Davison. Learning Meshes for Dense Visual SLAM. IEEE International Conference on Computer Vision (ICCV), 2019 mbloesch_etal_iccv2019.pdf Video Link‌‌‌‌‌‌‌‌‌‌‌

Andrea Nicastro, Ronald Clark, Stefan Leutenegger. X-Section: Cross-Section Prediction for Enhanced RGB-D Fusion. IEEE International Conference on Computer Vision (ICCV), 2019 anicastro_etal_iccv2019.pdf anicastro_etal_supp_iccv2019.pdf ‌Video Link‌‌‌‌‌‌‌‌‌‌‌

Shuaifeng Zhi, Michael Bloesch, Stefan Leutenegger, Andrew Davison. SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representations. CVPR, 2019 szhi_etal_cvpr2019.pdf Video Link‌‌‌‌‌‌‌‌‌‌

Charlie Houseago, Michael Bloesch, Stefan Leutenegger. KO-Fusion: Dense Visual SLAM with Tightly-Coupled Kinematic and Odometric Tracking. ICRA, 2019 chouseago_etal_icra2019.pdf Video Link‌‌‌‌‌‌‌‌‌‌

Tristan Laidlow, Jan Czarnowski, Stefan Leutenegger. DeepFusion: Real-Time Dense 3D Reconstruction for Monocular SLAM using Single-View Depth and Gradient Predictions. ICRA, 2019 tlaidlow_etal_icra2019.pdf

Stephen James, Michael Bloesch, Andrew J. Davison. Task-Embedded Control Networks for Few-Shot Imitation Learning. CoRL, 2018 sjames_etal_corl2018.pdf Archive Link ‌Video Link‌‌‌‌‌‌‌‌‌‌

Ronald Clark, Michael Bloesch, Jan Czarnowski, Stefan Leutenegger, Andrew J. Davison. LS-Net: Learning to Solve Nonlinear Least Squares for Monocular Stereo. ECCV, 2018 rclark_etal_eccv2018.pdf Publisher Web Link Archive Link ‌Video Link‌‌‌‌‌‌‌‌‌‌

John McCormac, Ronald Clark, Michael Bloesch, Stefan Leutenegger, Andrew J. Davison. Fusion++: Volumetric Object-Level SLAM. 3DV, 2018 jmccormac_etal_3dv2018.pdf Archive Link ‌Video Link‌‌‌‌‌‌‌‌‌‌

Michael Bloesch, Jan Czarnowski, Ronald Clark, Stefan Leutenegger, Andrew J. Davison. CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAM. CVPR, 2018 (*Honorable Mention) mbloesch_etal_cvpr2018.pdf Open Access Link Archive Link ‌Video Link‌‌‌‌‌‌‌*‌‌‌

2017
Stephen James, Andrew J Davison and Edward Johns. Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage Task. CoRL, 2017 sjames_etal_corl2017.pdf ‌‌‌‌‌

Jan Czarnowski, Stefan Leutenegger, Andrew J Davison. Semantic Texture for Robust Dense Tracking. Geometry Meets Deep Learning Workshop, International Conference on Computer Vision (ICCV), 2017 jczarnowski_etal_iccv2017.pdf Video Link‌‌‌‌‌‌

John McCormac, Ankur Handa, Stefan Leutenegger, Andrew J Davison. SceneNet RGB-D: Can 5M Synthetic Images Beat Generic ImageNet Pre-training on Indoor Segmentation?. International Conference on Computer Vision (ICCV), 2017 ‌‌ Dataset Link ‌‌

Tristan Laidlow, Michael Bloesch, Wenbin Li and Stefan Leutenegger. Dense RGB-D-Inertial SLAM with Map Deformations. IEEE International Conference on Intelligent Robots and Systems (IROS), 2017 tlaidlow_etal_iros2017.pdf Video Link

Robert Lukierski, Stefan Leutenegger and Andrew J. Davison. Room Layout Estimation from Rapid Omnidirectional Exploration. IEEE International Conference on Robotics and Automation (ICRA), 2017 rlukierski_etal_icra2017.pdf Open Access Link

John McCormac, Ankur Handa, Andrew J Davison, Stefan Leutenegger. SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks. IEEE International Conference on Robotics and Automation (ICRA), 2017 ‌jmccormac_etal_icra2017.pdf Open Access Link Video Link‌‌

2016
Jacek Zienkiewicz, Akis Tsiotsios, Andrew Davison, Stefan Leutenegger. Monocular, Real-Time Surface Reconstruction using Dynamic Level of Detail. International Conference on 3D Vision (3DV), 2016 jzienkiewicz_etal_3dv2016.pdf Open Access Link Video Link

Jacek Zienkiewicz, Andrew J Davison, Stefan Leutenegger. Real-Time Height Map Fusion using Differentiable Rendering. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 jzienkiewicz_etal_iros2016.pdf Open Access Link Video Link‌

Edward Johns, Stefan Leutenegger, Andrew J Davison. Deep Learning a Grasp Function for Grasping Under Gripper Pose Uncertainty. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 ejohns_etal_iros2016.pdf Open Access Link‌ Video Link

P Bardow, AJ Davison, S Leutenegger. Simultaneous Optical Flow and Intensity Estimation from an Event Camera. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016, pp. 884-892 pbarlow_etal_cvpr2016.pdf Publisher Web Link Open Access Link Video Link‌‌‌‌

E Johns, S Leutenegger, AJ Davison. Pairwise Decomposition of Image Sequences for Active Multi-View Recognition. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016, pp. 3813-3822 ejohns_etal_cvpr2016.pdf Publisher Web Link Open Access Link

John McCormac, Ankur Handa, Stephan Leutenegger, Andrew J. Davison. SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth. 2016 jmccormac_etal_archive2016.pdf‌ Publisher Web Link Dataset Link

T.Whelan, R.F. Salas-Moreno, B. Glocker, A.J. Davison and S. Leutenegger. ElasticFusion: Real-Time Dense SLAM and Light Source Estimation. International Journal of Robotics Research RSS '15 Special Issue, 2016 twhelan_etal_ijrr2016.pdf Open Access Link Video Link

2015
R. Lukierski, S. Leutenegger, and A. J. Davison. Rapid Free-Space Mapping From a Single Omnidirectional Camera. In Proceedings of the European Conference on Mobile Robotics (ECMR), 2015 rlukierski_etal_ecmr2016.pdf Publisher Web Link Open Access Link‌‌

T Whelan, S Leutenegger, B Glocker, R F Salas-Moreno, A Davison. ElasticFusion: Dense SLAM Without A Pose Graph. Proceedings of Robotics: Science and Systems (RSS), July 2015 twhelan_etal_rss2015.pdf Publisher Web Link Open Access Link Video Link 1 Video Link 2

2014
Jacek Zienkiewicz, Andrew Davison. Extrinsics Auto-Calibration for Dense Planar Visual Odometry. Journal of Field Robotics, 32(5), 2014 jzienkiewicz_etal_jfr2014.pdf Publisher Web Link ‌Open Access Link

Other Publications

The following publications were created by either current members of the Dyson Robotics Lab or the Robot Vision Group. The research they refer to was independent to Dyson funding but have been included as they provide a good insight into the technical space we work within.

Robot Vision Group Publications

Summary of the table's contents
Year	Publication
2016	Hanme Kim, Stefan Leutenegger, Andrew J Davison, Real-Time 3D Reconstruction and 6-DoF Tracking with an Event Camera, ECCV 2016-European Conference on Computer Vision, 2016 Stefan Leutenegger, Christoph Hürzeler, Amanda K. Stowers, Kostas Alexis, David Achtelik Markus W .and Lentink, Paul Y. Oh, Roland Siegwart, Flying Robots, Springer Handbook of Robotics, pp.623–670, 2016 C. Tsiotsios, T.-K. Kim, A. J. Davison, S. G. Narasimhan, Model effectiveness prediction and system adaptation for photometric stereo in murky water, Computer Vision and Image Understanding, volume 150, 2016
2015	Jan Jachnik, Dan B Goldman, Linjie Luo, Andrew J. Davison, Interactive 3D Face Stylization Using Sculptural Abstraction, arXiv:1502.01954 [cs.GR], 2015
2014	R. F. Salas-Moreno, B. Glocker, P. H. J. Kelly, A. J. Davison, Dense Planar SLAM, ISMAR, 2014 H. Kim, A. Handa, R. Benosman, S.-H. Ieng, A. J. Davison, Simultaneous Mosaicing and Tracking with an Event Camera, BMVC, 2014 P.-L. Chang, A. Handa, A. J. Davison, D. Stoyanov, P. E. Edwards, Robust real-time visual odometry for stereo endoscopy using dense quadrifocal tracking, IPCAI, 2014 C. Tsiotsios, M. E. Angelopoulou, T.-K. Kim, A. J. Davison, Backscatter Compensated Photometric Stereo with 3 Sources, CVPR, 2014 A. Handa, T. Whelan, J. McDonald, A. J. Davison, A Benchmark for RGB-D Visual Odometry, 3D Reconstruction and SLAM, ICRA, 2014
2013	Renato F. Salas-Moreno, Richard A. Newcombe, Hauke Strasdat, Paul H.J. Kelly, Andrew J. Davison, SLAM++: Simultaneous Localisation and Mapping at the Level of Objects, CVPR, pp.1352–1359, 2013 Ping-Lin Chang, Danail Stoyanov, Andrew J. Davison, Philip “Eddie” Edwards, Real-Time Dense Stereo Reconstruction Using Convex Optimisation with a Cost-Volume for Image-Guided Robotic Surgery, MICCAI, 2013 Jacek Zienkiewicz, Robert Lukierski, Andrew Davison, Dense, Auto-Calibrating Visual Odometry from a Downward-Looking Camera, BMVC, 2013 A. Handa, Analysing High Frame-Rate Camera Tracking, 2013
2012	R. A. Newcombe, Dense Visual SLAM, 2012 Hauke Strasdat, Local Accuracy and Global Consistency for Efficient Visual SLAM, 2012 G. C. Mendoza, Robot SLAM and Navigation with Multi-Camera Computer Vision, 2012 P. F. Alcantarilla, A. Bartoli, A. J. Davison, KAZE Features, ECCV, 2012 H. Strasdat, J. M. M. Montiel, A. J. Davison, Visual SLAM: Why filter?, IVC, volume 30, pp.65–77, 2012 Ankur Handa, Richard A. Newcombe, Adrien Angeli, Andrew J. Davison, Real-Time Camera Tracking: When is High Frame-Rate Best?, ECCV, 2012
2011	S. J. Lovegrove, Parametric Dense Visual SLAM, 2011 A. Handa, R. A. Newcombe, A. Angeli, A. J. Davison, Applications of the Legendre-Fenchel transformation to computer vision problems, 2011 H. Strasdat, A. J. Davison, J. M. M. Montiel, K. Konolige, Double Window Optimisation for Constant Time Visual SLAM, ICCV, 2011 G. Carrera, A. Angeli, A. J. Davison, Lightweight SLAM and Navigation with a Multi-Camera Rig, ECMR, 2011 G. Carrera, A. Angeli, A. J. Davison, SLAM-Based Automatic Extrinsic Calibration of a Multi-Camera Rig, ICRA, 2011
2010	A. Angeli, A. J. Davsion, Live Feature Clustering in Video Using Appearance and 3D Geometry, BMVC, 2010 H. Strasdat, J. M. M. Montiel, A. J. Davison, Scale Drift-Aware Large Scale Monocular SLAM,RSS, 2010 A. Handa, M. Chli, H. Strasdat, A. J. Davison, Scalable Active Matching, CVPR, 2010 H. Strasdat, J. M. M. Montiel, A. J. Davison, Real-Time Monocular SLAM: Why Filter?, ICRA, 2010 Richard A. Newcombe, Andrew J. Davison, Live dense reconstruction with a single moving camera, CVPR, 2010 J. Civera, O. Grasa, A. J. Davison, J. M. M. Montiel, 1-Point RANSAC for EKF Filtering. Application to Real-Time Structure from Motion and Visual Odometry, Journal of Field Robotics, volume 27, pp.609–631, 2010 S. J. Lovegrove, A. J. Davison, Real-Time Spherical Mosaicing using Whole Image Alignment,ECCV, 2010
2009	M. Chli, A. J. Davison, Active Matching for visual tracking, RAS, volume 57, pp.1173 – 1187, 2009, Special Issue `Inside Data Association' M. Chli, Applying Information Theory to Efficient SLAM, 2009 J. Civera, O. G. Grasa, A. J. Davison, J. M. M. Montiel, 1-Point RANSAC for EKF-Based Structure from Motion, IROS, 2009 M. Chli, A. J. Davison, Automatically and Efficiently Inferring the Hierarchical Structure of Visual Maps, ICRA, 2009 J. Civera, D. R. Bueno, A. J. Davison, J. M. M. Montiel, Camera Self-Calibration for Sequential Bayesian Structure From Motion, ICRA, 2009 J. Civera, A. J. Davison, J. A. Magall'on, J. M. M. Montiel, Drift-Free Real-Time Sequential Mosaicing, IJCV, volume 81, pp.128–137, 2009
2008	O. Stasse, F. Saidi, K. Yokoi, B. Verrelst, B. Vanderborght, A. J. Davison, N. Mansard, C. Esteves,Integrating Walking and Vision to Increase Humanoid Autonomy, IJHR, volume 5, pp.287–310, 2008 J. Civera, A. J. Davison, J. M. M. Montiel, Interacting Multiple Model Monocular SLAM, ICRA, 2008 J. Neira, A. J. Davison, J. J. Leonard, Guest Editorial Special Issue on Visual SLAM, TRO, volume 24, pp.929–931, 2008 M. Chli, A. J. Davison, Active Matching, ECCV, 2008 P. Gemeiner, A. J. Davison, M. Vincze, Improving Localization Robustness in Monocular SLAM Using a High-Speed Camera, RSS, 2008 J. Civera, A. J. Davison, J. M. M. Montiel, Inverse Depth Parametrization for Monocular SLAM, TRO, volume 24, pp.932–945, 2008
2007	Andrew J. Davison, Ian Reid, Nicholas D Molton, Olivier Stasse, MonoSLAM: real-time single camera SLAM, PAMI, volume 29, pp.1052–1067, 2007 L. A. Clemente, A. J. Davison, I. Reid, J. Neira, J. D. Tard'os, Mapping Large Loops with a Single Hand-Held Camera, RSS, 2007 J. Civera, A. J. Davison, J. M. M. Montiel, Inverse Depth to Depth Conversion for Monocular SLAM, ICRA, 2007 J. Civera, A. J. Davison, J. M. M. Montiel, Dimensionless Monocular SLAM, IBPRIA, 2007

Professor Andrew Davison's Publications (not including those listed above)

Summary of the table's contents
Year	Publication
2018	Andrew J. Davison. FutureMapping: The Computational Structure of Spatial AI Systems, arXiv:1803.11288
2008	José Neira, Andrew J. Davison and John J. Leonard, Guest Editorial Special Issue on Visual SLAM (PDF format), IEEE T-RO 2008.
2006	Olivier Stasse, Andrew J. Davison, Ramzi Sellaouti and Kazuhito Yokoi, Real-Time 3D SLAM for a Humanoid Robot considering Pattern Generator Information (PDF format), IROS 2006. Peter Mountney, Danail Stoyanov, Andrew J. Davison and Guang-Zhong Yang, Simultaneous Stereoscope Localization and Soft-Tissue Mapping for Minimally Invasive Surgery (PDF format), MICCAI 2006. Paul Smith, Ian Reid and Andrew J. Davison, Real-Time Monocular SLAM with Straight Lines (PDF format), BMVC 2006. J. M. M. Montiel, Javier Civera and Andrew J. Davison, Unified Inverse Depth Parametrization for Monocular SLAM (PDF format), RSS 2006. J. M. M. Montiel and Andrew J. Davison, A Visual Compass based on SLAM (PDF format), ICRA 2006. Teresa Vidal-Calleja, Andrew J. Davison, Juan Andrade-Cetto and David W. Murray, Active Control for Single Camera SLAM (PDF format), ICRA 2006.
2005	Andrew J. Davison, Active Search for Real-Time Vision (PDF format), ICCV 2005.
2004	Nicholas Molton, Andrew J. Davison and Ian Reid, Locally Planar Patch Features for Real-Time Structure from Motion (PDF format), BMVC 2004. Walterio Mayol, Andrew J. Davison, Ben Tordoff, Nicholas Molton and David W. Murray, Interaction Between Hand and Wearable Camera in 2D and 3D Environments (PDF format), BMVC 2004. Andrew J. Davison, Yolanda Gonzalez Cid and Nobuyuki Kita, Real-Time 3D SLAM with Wide-Angle Vision (PDF format), IAV 2004.
2003	Andrew J. Davison, Real-Time Simultaneous Localisation and Mapping with a Single Camera (PDF format), ICCV 2003. Andrew J. Davison, Walterio Mayol and David W. Murray, Real-Time Localisation and Mapping with Wearable Active Vision (PDF format), ISMAR 2003 Andrew J. Davison, Modelling the World in Real-Time: How Robots Engineer Information (PDF format), 2003 Special Christmas Issue of the Philosophical Transactions of the Royal Society A.
2002	Andrew J. Davison, SLAM with a Single Camera (PDF format), SLAM/CML Workshop at ICRA 2002. Andrew J. Davison and David W. Murray, Simultaneous Localisation and Map-Building Using Active Vision (PDF format), IEEE Trans. PAMI, July 2002. Andrew J. Davison and Nobuyuki Kita, Active Visual Localization for Multiple Inspection Robots (PDF format), Advanced Robotics Journal, 2002 (special issue on best papers from IROS 2000).
2001	Jonathan Deutscher, Andrew J. Davison and Ian Reid, Automatic Partitioning of High Dimensional Search Spaces associated with Articulated Body Motion Capture (PDF format), CVPR 2001. Joss Knight, Andrew J. Davison and Ian Reid, Towards Constant Time SLAM using Postponement (PDF format), IROS 2001. Andrew J. Davison, Jonathan Deutscher and Ian Reid, Markerless Motion Capture of Complex Full-Body Movement for Character Animation (GZIP PS format), Eurographics Workshop on Animation and Simulation, 2001. Andrew J. Davison and Nobuyuki Kita, Sequential Localisation and Map-Building for Real-Time Computer Vision and Robotics (PDF format), Robotics and Autonomous Systems, 2001.
2000	Andrew J. Davison and Nobuyuki Kita, Sequential Localisation and Map-Building in Computer Vision and Robotics (GZIP PS format), SMILE Workshop at ECCV 2000. Andrew J. Davison and Nobuyuki Kita, Active Visual Localisation for Cooperating Inspection Robots (GZIP PS format), IROS 2000.
1998	Andrew J. Davison and David W. Murray, Mobile Robot Localisation Using Active Vision (PDF format), ECCV 1998. Andrew J. Davison, Mobile Robot Navigation Using Active Vision (PDF format), D.Phil (Ph.D) Thesis, University of Oxford, 1998.