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03/21/2023
Learning a Depth Covariance Function
We propose learning a depth covariance function with applications to geo...
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02/03/2023
vMAP: Vectorised Object Mapping for Neural Field SLAM
We present vMAP, an object-level dense SLAM system using neural field re...
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10/31/2022
Real-time Mapping of Physical Scene Properties with an Autonomous Robot Experimenter
Neural fields can be trained from scratch to represent the shape and app...
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10/06/2022
Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding
General scene understanding for robotics requires flexible semantic repr...
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08/09/2022
Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes
In this paper, we propose a novel object-level mapping system that can s...
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03/22/2022
Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation
Precise coordinated planning enables safe and highly efficient motion wh...
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03/15/2022
Simultaneous Localisation and Mapping with Quadric Surfaces
There are many possibilities for how to represent the map in simultaneou...
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02/22/2022
ReorientBot: Learning Object Reorientation for Specific-Posed Placement
Robots need the capability of placing objects in arbitrary, specific pos...
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02/11/2022
SafePicking: Learning Safe Object Extraction via Object-Level Mapping
Robots need object-level scene understanding to manipulate objects while...
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02/07/2022
A Robot Web for Distributed Many-Device Localisation
We show that a distributed network of robots or other devices which make...
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02/07/2022
Auto-Lambda: Disentangling Dynamic Task Relationships
Understanding the structure of multiple related tasks allows for multi-t...
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11/29/2021
iLabel: Interactive Neural Scene Labelling
Joint representation of geometry, colour and semantics using a 3D neural...
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09/13/2021
Incremental Abstraction in Distributed Probabilistic SLAM Graphs
Scene graphs represent the key components of a scene in a compact and se...
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07/19/2021
CodeMapping: Real-Time Dense Mapping for Sparse SLAM using Compact Scene Representations
We propose a novel dense mapping framework for sparse visual SLAM system...
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07/05/2021
A visual introduction to Gaussian Belief Propagation
In this article, we present a visual introduction to Gaussian Belief Pro...
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06/23/2021
Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via Discretisation
Reflecting on the last few years, the biggest breakthroughs in deep rein...
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05/31/2021
Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulation
Despite the success of reinforcement learning methods, they have yet to ...
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04/09/2021
Bootstrapping Semantic Segmentation with Regional Contrast
We present ReCo, a contrastive learning framework designed at a regional...
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03/30/2021
SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks
By estimating 3D shape and instances from a single view, we can capture ...
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03/29/2021
In-Place Scene Labelling and Understanding with Implicit Scene Representation
Semantic labelling is highly correlated with geometry and radiance recon...
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03/23/2021
iMAP: Implicit Mapping and Positioning in Real-Time
We show for the first time that a multilayer perceptron (MLP) can serve ...
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02/15/2021
End-to-End Egospheric Spatial Memory
Spatial memory, or the ability to remember and recall specific locations...
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11/03/2020
Rearrangement: A Challenge for Embodied AI
We describe a framework for research and evaluation in Embodied AI. Our ...
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08/31/2020
Deep Probabilistic Feature-metric Tracking
Dense image alignment from RGB-D images remains a critical issue for rea...
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04/09/2020
MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusion
Robots and other smart devices need efficient object-based scene represe...
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03/06/2020
Bundle Adjustment on a Graph Processor
Graph processors such as Graphcore's Intelligence Processing Unit (IPU) ...
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01/14/2020
DeepFactors: Real-Time Probabilistic Dense Monocular SLAM
The ability to estimate rich geometry and camera motion from monocular i...
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11/04/2019
Learning One-Shot Imitation from Humans without Humans
Humans can naturally learn to execute a new task by seeing it performed ...
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10/30/2019
FutureMapping 2: Gaussian Belief Propagation for Spatial AI
We argue the case for Gaussian Belief Propagation (GBP) as a strong algo...
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09/26/2019
RLBench: The Robot Learning Benchmark Learning Environment
We present a challenging new benchmark and learning-environment for robo...
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06/26/2019
PyRep: Bringing V-REP to Deep Robot Learning
PyRep is a toolkit for robot learning research, built on top of the virt...
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03/15/2019
SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representations
Systems which incrementally create 3D semantic maps from image sequences...
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03/15/2019
SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representation
Systems which incrementally create 3D semantic maps from image sequences...
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01/25/2019
Self-Supervised Generalisation with Meta Auxiliary Learning
Learning with auxiliary tasks has been shown to improve the generalisati...
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10/08/2018
Task-Embedded Control Networks for Few-Shot Imitation Learning
Much like humans, robots should have the ability to leverage knowledge f...
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09/09/2018
LS-Net: Learning to Solve Nonlinear Least Squares for Monocular Stereo
Sum-of-squares objective functions are very popular in computer vision a...
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08/25/2018
Fusion++: Volumetric Object-Level SLAM
We propose an online object-level SLAM system which builds a persistent ...
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08/21/2018
SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM
SLAM is becoming a key component of robotics and augmented reality (AR) ...
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08/20/2018
Navigating the Landscape for Real-time Localisation and Mapping for Robotics and Virtual and Augmented Reality
Visual understanding of 3D environments in real-time, at low power, is a...
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06/20/2018
Sim-to-Real Reinforcement Learning for Deformable Object Manipulation
We have seen much recent progress in rigid object manipulation, but inte...
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04/03/2018
CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAM
The representation of geometry in real-time 3D perception systems contin...
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03/29/2018
FutureMapping: The Computational Structure of Spatial AI Systems
We discuss and predict the evolution of Simultaneous Localisation and Ma...
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03/28/2018
End-to-End Multi-Task Learning with Attention
In this paper, we propose a novel multi-task learning architecture, whic...
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02/02/2017
Algorithmic Performance-Accuracy Trade-off in 3D Vision Applications Using HyperMapper
In this paper we investigate an emerging application, 3D scene understan...
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12/15/2016
SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth
We introduce SceneNet RGB-D, expanding the previous work of SceneNet to ...
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08/07/2016
Deep Learning a Grasp Function for Grasping under Gripper Pose Uncertainty
This paper presents a new method for parallel-jaw grasping of isolated o...
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05/26/2016
Pairwise Decomposition of Image Sequences for Active Multi-View Recognition
A multi-view image sequence provides a much richer capacity for object r...
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09/15/2015
Comparative Design Space Exploration of Dense and Semi-Dense SLAM
SLAM has matured significantly over the past few years, and is beginning...
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02/06/2015
Interactive 3D Face Stylization Using Sculptural Abstraction
Sculptors often deviate from geometric accuracy in order to enhance the ...
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10/08/2014
