The notes on Lie groups have been updated. The theory chapter has been split into two chapters for Lie groups and projective geometry. Sections on the Lie bracket and conics have been added. Notes available here.
The Australian Research Council have just awarded us $19M to establish a Centre of Excellence in Robotic Vision. The centre will address some of the key challenges in enabling robots to use vision to operate in unstructured and dynamic environments alongside humans.
[ARC Announcement]
This paper presents a novel algorithm for calculating epipolar geometry from 5 correspondences. The algorithm directly solves for the orientation of each camera relative to the baseline that separates them and is able to impose the half plane constraints that arise from the requirement that visible landmarks must be in front of both cameras. The algo- rithm is conceptually simple, and provides numerically stable solutions that are used as a hypothesis generator within RANSAC. It is significantly faster than existing methods and is comfortably able to provide frame-rate performance on real data.
[2103 BMVC paper]
This paper proposes a deterministic scheme for selecting correspondences from feature matching to generate motion hypotheses. The method combines matching scores, ambiguity and the past performance of motion hypotheses generated by the matches, to estimate the probability that a feature match is correct. At every stage the best correspondences are chosen to generate a hypothesis. This method will therefore only spend time on poor or ambiguous matches when the best correspondences have proven themselves to be unsuitable. The result is a system that is able to operate efficiently on ambiguous data and is suitable for implementation on devices with limited computing resources.
[2010 BMVC Paper]
This work introduces the Student-t Mixture Filter as a robust method of filtering, capable of handling erroneous measurements and process models in a Bayesian manner without the need for ad-hoc outlier decisions and pre-filtering.
[2008 ECCV Paper]
This quad-rotor helicopter carries a miniature transmitting video camera. The video stream is received and fed into a computer which uses a visual tracking algorithm to compute the helicopter's position and generate control signals. These are sent to the remote control unit to stabilise the helicopter. The inset in the top right of the video shows the computer's view from the on-board camera. This work uses the dynamic measurement clustering technique described below.
[Video in corridor] [Video in lab] [Video showing response to disturbance] [Chris Kemp's PhD Thesis]
This work shows how measurements of a system state can be partitioned into rank-deficient sets in order to reduce computational complexity. This allows problems such as the 6 DoF pose problem to be solved hierarchically, replacing RANSAC with exhaustive sampling at each stage (made possible by the reduced dimensionality of each sub-problem).
[2005 ICCV Paper]
This work uses RANSAC as the proposal distribution to generate samples drawn from the posterior distribution in a filtering framework. This technique allows the pose estimation problem to be partitioned such that robust estimates can be obtained with low computational overhead. A multi-modal texture changepoint detector is also introduced. This work won the Science Prize at BMVC 2004.
[Prizewinning 2004 BMVC Paper] [2008 IVC Paper]
