2024

Eric Dexheimer and Andrew J Davison. COMO: Compact Mapping and Odometry. ICCV2024

Archive Link     Video Link     Code Link

Aalok Patwardhan, Callum Rhodes, Gwangbin Bae, and Andrew J. Davison. U-ARE-ME: Uncertainty-Aware Rotation Estimation in Manhattan Environments. Aalok Patwardhan*, Callum Rhodes*, Gwangbin Bae, and Andrew J. Davison. CVPR2024

Archive Link       Video Link

Gwangbin Bae and Andrew J. Davison. Rethinking Inductive Biases for Surface Normal Estimation. CVPR2024

Archive Link       Video Link

Xin Kong, Shikun Liu, Xiaoyang Lyu, Marwan Taher, Xiaojuan Qi, Andrew J. Davison. EscherNet: A Generative Model for Scalable View Synthesis. CVPR2024

Archive Link      Video Link

Kirill MazurGwangbin BaeAndrew J. Davison. SuperPrimitive: Scene Reconstruction at a Primitive Level. CVPR2024 (Honorable Mention)

Archive Link     Video Link

Hidenobu Matsuki, Riku Murai, Paul H. J. Kelly, Andrew J Davison.  Gaussian Splatting SLAM. CVPR2024 (Best Demo)

Hide et al_CVPR2024      Video Link

Marwan Taher Ignacio Alzugaray Andrew J. Davison. Fit-NGP: Fitting Object Models to Neural Graphics Primitives. ICRA2024

Archive Link      Video Link

 
2023

 Aalok Patwardhan, Riku Murai, Andrew J. Davison. The GBP Planner || Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation. RA-L 2023, ICRA 2023

Archive Link       Video Link

Hidenobu Matsuki, Edgar Sucar, Tristan Laidow, Kentaro Wada, Raluca Scona, Andrew J Davison. iMODE: Real-Time Incremental Monocular Dense Mapping Using Neural Field. ICRA, 2023

Archive Link       Video Link

Eric Dexheimer, Andrew J Davison. Learning a Depth Covariance Function. CVPR, 2023

 Archive Link       Video Link‌

Xin Kong, Shikun Liu, Marwan Taher, Andrew Davison. vMAP: Vectorised Object Mapping for Neural Field SLAM. CVPR, 2023

Archive Link      Video Link

2022

Kirill Mazur, Edgar Sucar, Andrew Davison. Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding. arXiv, 2022

kirill et al_arXiv2022(pdf)       Archive Link       Video Link‌

Iain Haughton, Edgar Sucar, Andre Mouton, Edward Johns, and Andrew Davison. Real-time Mapping of Physical Scene Properties with an Autonomous Robot Experimenter. CoRL, 2022

iain et al_corl2022(pdf)       Archive Link       Video Link‌

Ivan Kapelyukh, Vitalis Vosylius, and Edward Johns. DALL-E-Bot: Introducing Web-Scale Diffusion Models to Robotics. NeurIPS, 2022 and CoRL, 2022

ivan et al-DALL-E-DOT-CoRL2022(pdf)        Archive Link      

Aalok Patwardhan, Riku Murai, Andrew J. Davison. Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation. IEEE Robotics and Automation Letters, 2022 

patwardhan_etal_arXiv2022(pdf)        Archive Link       Video Link‌

Dorian F. Henning, Tristan Laidlow and Stefan Leutenegger. BodySLAM: Joint Camera Localisation, Mapping, and Human Motion Tracking. ECCV, 2022

dorian et al_eccv2022(pdf)       Archive Link       Video Link‌

Shikun Liu, Shuaifeng Zhi, Edward Johns,Andrew J. Davison. Bootstrapping 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
2021

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
2020

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 
 
2019

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     
 
 
2018

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.

Other Group Publications

Robot Vision Group Publications
 YearPublication
2016
 2015   
 2014  
 2013  
 2012  
 2011  
 2010  
 2009  
 2008  
 2007  
Summary of the table's contents

 

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

YearPublication
 2018
 2008  
 2006  
 2005  
 2004  
 2003  
 2002  
 2001  
 2000  
 1998  
Summary of the table's contents

 

Contact us

Dyson Robotics Lab at Imperial
William Penney Building
Imperial College London
South Kensington Campus
London
SW7 2AZ

Telephone: +44 (0)20 7594-7756
Email: iosifina.pournara@imperial.ac.uk