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



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

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


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 DavisonSceneNet RGB-D: Can 5M Synthetic Images Beat Generic ImageNet Pre-training on Indoor Segmentation?. International Conference on Computer Vision (ICCV), 2017

jmccormac_etal_iccv2017.pdf‌       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



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 



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 



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

Summary of the table's contents


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

Summary of the table's contents


Dr Stefan Leutenegger's Publications (not including those listed above)

  • Stefan Leutenegger, Unmanned Solar Airplanes, 2014
  • Philipp Oettershagen, Amir Melzer, Stefan Leutenegger, Kostas Alexis, Roland Siegwart,Explicit model predictive control and L 1-navigation strategies for fixed-wing UAV path trackingControl and Automation (MED), 2014 22nd Mediterranean Conference of, pp.1159–1165, 2014
  • Stefan Leutenegger, Amir Melzer, Kostas Alexis, Roland Siegwart, Robust state estimation for small unmanned airplanesControl Applications (CCA), 2014 IEEE Conference on, pp.1003–1010, 2014
  • Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart, Paul Furgale, Keyframe-based visual–inertial odometry using nonlinear optimizationThe International Journal of Robotics Research, pp.0278364914554813, 2014
  • Janosch Nikolic, Joern Rehder, Michael Burri, Pascal Gohl, Stefan Leutenegger, Paul T Furgale, Roland Siegwart, A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAMRobotics and Automation (ICRA), 2014 IEEE International Conference on, pp.431–437, 2014
  • M Burri, L Gasser, M Kach, M Krebs, S Laube, A Ledergerber, D Meier, R Michaud, L Mosimann, L Muri, others, Design and control of a spherical omnidirectional blimpIntelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp.1873–1879, 2013
  • Janosch Nikolic, Michael Burri, Joern Rehder, Stefan Leutenegger, Christoph Huerzeler, Roland Siegwart, A UAV system for inspection of industrial facilitiesAerospace Conference, 2013 IEEE, pp.1–8, 2013
  • Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart, Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization.,Robotics: Science and Systems, 2013
  • Michael Bloesch, Marco Hutter, Mark A Hoepflinger, Stefan Leutenegger, Christian Gehring, C David Remy, Roland Siegwart, State estimation for legged robots-consistent fusion of leg kinematics and IMURobotics, pp.17, 2013
  • L Marconi, S Leutenegger, S Lynen, M Burri, R Naldi, C Melchiorri, Ground and aerial robots as an aid to alpine search and rescue: Initial SHERPA outcomesSafety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on, pp.1–2, 2013
  • Stefan Leutenegger, Roland Y Siegwart, A low-cost and fail-safe inertial navigation system for airplanesRobotics and Automation (ICRA), 2012 IEEE International Conference on, pp.612–618, 2012
  • L Marconi, C Melchiorri, M Beetz, D Pangercic, R Siegwart, S Leutenegger, R Carloni, S Stramigioli, H Bruyninckx, Patrick Doherty, others, The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environmentsSafety, Security, and Rescue Robotics (SSRR), 2012 IEEE International Symposium on, pp.1–4, 2012
Summary of the table's contents