Publications
AI disclaimer: These publication entries were generated with AI assistance and may contain errors. Please verify their content against the linked sources.
Journal articles, conference papers, workshop contributions, and online preprints, grouped by date. You can also find them on my Google Scholar page.
- Real-Time Radar Semantic and Panoptic Scene Understanding
- Diversity Without Labels: Task-Agnostic Coreset Selection Across Perception and Action
- Artemis: Geometry-Grounded Multi-Agent Driving World Models with Shared 3D State and Progressive Memory Update
- InfraVLA: Extending Vision-Language-Action Navigation with Infrastructure Cameras
- Beyond Visual Quality: A Study of Test-Time Planning with World Action Models
- Comparing Trajectories from Positions Alone: Curvature-Based Time Alignment and Drift Error Metric
- PriorEye: Geospatial Visual Priors for End-to-End Autonomous Driving
- Spotted: Location-informed Reidentification of Hyenas and Leopards in Camera Trap Surveys
- Beyond a Shadow of a Doubt: Close Proximity Geometry Reconstruction Using FMCW Radar Shadow Effects
- Inferring Terrain Stability from Proprioceptive Data of a Quadruped Robot
- A Novel Trajectory Evaluation Metric: Distance Travelled Error (DTE)
- Multi-Robot Planning and Control from CCTV Camera Networks in a Real Warehouse
- What Can Eye Gaze Teach Us About Real-World Cycling? Insights From the Oxford RobotCycle Project
- RGB-only Active 3D Scene Graph Generation for Indoor Mobile Robots
- Fixed External Cameras as Common Prior Maps for Active 3D Scene Graph Generation
- LikePhys: Evaluating Intuitive Physics Understanding in Video Diffusion Models via Likelihood Preference
- Biodiversity research requires more motors in air, water and on land
- Fantastic Features and Where to Find Them: A Probing Method to combine Features from Multiple Foundation Models
- Robot-relay: building-wide, calibration-less visual servoing with learned sensor handover networks
- Ensemble of Pre-Trained Models for Long-Tailed Trajectory Prediction
- Select2Plan: Training-Free ICL-Based Planning Through VQA and Memory Retrieval
- 3D Foundation Model-Based Loop Closing for Decentralized Collaborative SLAM
- Tiny LiDARs for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments
- MinkOcc: Towards real-time label-efficient semantic occupancy prediction
- GraphSCENE: On-Demand Critical Scenario Generation for Autonomous Vehicles in Simulation
- Introspection in Learned Semantic Scene Graph Localisation
- Neural-MMGS: Multi-modal Neural Gaussian Splats for Large-Scale Scene Reconstruction
- Task-Oriented Co-Design of Communication, Computing, and Control for Edge-Enabled Industrial Cyber-Physical Systems
- AutoInspect: Towards Long-Term Autonomous Inspection and Monitoring
- The Oxford RobotCycle Project: A Multimodal Urban Cycling Dataset for Assessing the Safety of Vulnerable Road Users
- Bayesian Radar Cosplace: Directly Estimating Location Uncertainty in Radar Place Recognition
- OORD: The Oxford Offroad Radar Dataset
- NeuralFloors++: Consistent Street-Level Scene Generation From BEV Semantic Maps
- NAR-*ICP: Neural Execution of Classical ICP-based Pointcloud Registration Algorithms
- NeRFoot: Robot-Footprint Estimation for Image-Based Visual Servoing
- RobotCycle: Assessing Cycling Safety in Urban Environments
- Real-time cyber/physical interplay in scheduling for peak load optimisation in Cyber–Physical Energy Systems
- TAGIC: Task-Guided Image Communication Framework for Seamless Teleoperation
- Mitigating Distributional Shift in Semantic Segmentation via Uncertainty Estimation from Unlabelled Data
- Watching Grass Grow: Long-term Visual Navigation and Mission Planning for Autonomous Biodiversity Monitoring
- VDNA-PR: Using General Dataset Representations for Robust Sequential Visual Place Recognition
- That’s My Point: Compact Object-centric LiDAR Pose Estimation for Large-scale Outdoor Localisation
- Masked γ-SSL: Learning Uncertainty Estimation via Masked Image Modeling
- NeuralFloors: Conditional Street-Level Scene Generation From BEV Semantic Maps via Neural Fields
- Semantic Interpretation and Validation of Graph Attention-Based Explanations for GNN Models
- Sem-gat: Explainable semantic pose estimation using learned graph attention
- What You See Is What You Get: Experience Ranking with Deep Neural Dataset-to-Dataset Similarity for Topological Localisation
- Robot-Relay: Building-Wide, Calibration-Less Visual Servoing with Learned Sensor Handover Networks
- Visual Servoing on Wheels: Robust Robot Orientation Estimation in Remote Viewpoint Control
- Doppler-Aware Odometry from FMCW Scanning Radar
- Self-Supervised Lidar Place Recognition in Overhead Imagery Using Unpaired Data
- Roll-Drop: accounting for observation noise with a single parameter
- Visual DNA: Representing and Comparing Images Using Distributions of Neuron Activations
- Explainable Action Prediction through Self-Supervision on Scene Graphs
- Point-based Metric and Topological Localisation between Lidar and Overhead Imagery
- Towards Semantic Interpretation and Validation of Graph Attention-based Explanations
- Sampling, Communication, and Prediction Co-Design for Synchronizing the Real-World Device and Digital Model in Metaverse
- Keyframe Selection, Communication, and Prediction for Teleoperated Driving Systems
- BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR
- Visuo-Tactile Recognition of Partial Point Clouds Using PointNet and Curriculum Learning: Enabling Tactile Perception from Visual Data
- RaVÆn: unsupervised change detection of extreme events using ML on-board satellites
- Sampling, Communication, and Prediction Co-Design for Synchronizing the Real-Robot and Digital-Robot in Metaverse
- What Goes Around: Leveraging a Constant-Curvature Motion Constraint in Radar Odometry
- Fast-MbyM: Leveraging Translational Invariance of the Fourier Transform for Efficient and Accurate Radar Odometry
- Depth-SIMS: Semi-Parametric Image and Depth Synthesis
- Contrastive Learning for Unsupervised Radar Place Recognition
- Unsupervised Change Detection of Extreme Events Using ML On-Board
- CPG-Actor: Reinforcement Learning for Central Pattern Generators
- Self-supervised learning for using overhead imagery as maps in outdoor range sensor localization
- Get to the Point: Learning Lidar Place Recognition and Metric Localisation Using Overhead Imagery
- The Oxford Road Boundaries Dataset
- Unsupervised Place Recognition with Deep Embedding Learning over Radar Videos
- Fool Me Once: Robust Selective Segmentation via Out-of-Distribution Detection with Contrastive Learning
- RainBench: Towards Data-Driven Global Precipitation Forecasting from Satellite Imagery
- The Hulk: Design and Development of a Weather-Proof Vehicle for Long-Term Autonomy in Outdoor Environments
- Smart satellites: machine learning on-board for low-latency novelty detection
- On the Road: Route Proposal from Radar Self-Supervised by Fuzzy LiDAR Traversability
- Sense–Assess–eXplain (SAX): Building Trust in Autonomous Vehicles in Challenging Real-World Driving Scenarios
- RSS-Net: Weakly-Supervised Multi-Class Semantic Segmentation with FMCW Radar
- kRadar++: Coarse-to-fine FMCW Scanning Radar Localisation
- Keep off the Grass: Permissible Driving Routes from Radar with Weak Audio Supervision
- Distributed architecture for a smart LEDs display system based on MQTT
- Kidnapped Radar: Topological Radar Localisation using Rotationally-Invariant Metric Learning
- Self-Supervised Localisation between Range Sensors and Overhead Imagery
- Fault Detection of Electromechanical Actuators via Automatic Generation of a Fuzzy Index
- RSL-Net: Localising in Satellite Images From a Radar on the Ground
- Look Around You: Sequence-based Radar Place Recognition with Learned Rotational Invariance
- Towards Data-Driven Physics-Informed Global Precipitation Forecasting from Satellite Imagery
- RainBench: Enabling Data-Driven Precipitation Forecasting on a Global Scale
- No Need to Scream: Robust Sound-based Speaker Localisation in Challenging Scenarios
- What Could Go Wrong? Introspective Radar Odometry in Challenging Environments
- Online Fall Detection Using Recurrent Neural Networks on Smart Wearable Devices
- Fall Detection with Supervised Machine Learning using Wearable Sensors
- Fast radar motion estimation with a learnt focus of attention using weak supervision
- Listening closely to see far away: Radar-based Terrain Classification from Auditory Signals
- A Comparison of RSSI Filtering Techniques for Range-based Localization
- Cyber/physical interplay in the real-time scheduling for peak load optimization of electric loads
- Design of a Mobile Robot for Air Ducts Exploration
- A Framework for Automatic Generation of Fuzzy Evaluation Systems for Embedded Applications
- Adaptive Real-Time Scheduling of Cyber-Physical Energy Systems
- Design and Modeling of a Quadcopter with Double Axis Tilting Rotors
- Peak load optimization through 2-dimensional packing and multi-processor real-time scheduling
- eduMorse: An Open-Source Framework for Mobile Robotics Education