Andrew Davison: Publications

Most of my significant publications are available below to download. Please see my profile page on Google Scholar Citations which should maintain an up-to-date list of all my publications with full citation information.

For an overview of my work on SLAM with vision, I would recommend:

My DPhil Thesis from 1998, describing one of the first true real-time SLAM systems using computer vision. This work was carried out under the supervision of Prof. David Murray in Oxford.
My paper from ICCV 2003 introducing MonoSLAM SLAM.
MonoSLAM journal paper PAMI 2007, in collaboration with Ian Reid, Nicholas Molton (Oxford) and Olivier Stasse (AIST) with a more complete description of MonoSLAM including augmented reality and humanoid robot implementations.
Inverse Depth Features RSS 2006, in collaboration with José María Montiel and Javier Civera from Zaragoza, about inverse depth features for monocular SLAM.
Active Matching ECCV 2008, with Margarita Chli, on applying information theoretic principles to a practical Active Matching algorithm.
Why Filter? ICRA 2010, with Hauke Strasdat and José María Montiel, on our comparison of filtering and optimisation techniques for monocular SLAM.
DTAM ICCV 2011, a full dense and parallel monocular SLAM system with Richard Newcombe and Steven Lovegrove.
KinectFusion, ISMAR 2011,with Richard Newcombe, Shahram Izadi et. al from Microsoft Research Cambridge.
SLAM++: SLAM with Objects, CVPR 2013, with Renato Salas-Moreno, Richard Newcombe, Hauke Strasdat, Paul Kelly.

All Papers

Real-Time Dense Stereo Reconstruction Using Convex Optimisation with a Cost-Volume for Image-Guided Robotic Surgery (PDF format),
Ping-Lin Chang, Danail Stoyanov Andrew J. Davison, and Eddie Edwards, MICCAI 2013.

Dense, Auto-Calibrating Visual Odometry from a Downward-Looking Camera (PDF format),
Jacek Zienkiewicz, Robert Lukierski, Andrew J. Davison, BMVC 2013.

SLAM++: Simultaneous Localisation and Mapping at the Level of Objects (PDF format),
Renato F. Salas-Moreno, Richard A. Newcombe, Hauke Strasdat, Paul H. J. Kelly and Andrew J. Davison, CVPR 2013.

Real-Time Surface Light-field Capture for Augmentation of Planar Specular Surfaces (PDF format),
Jan Jachnik, Richard A. Newcomba and Andrew J. Davison, ISMAR 2012.

Real-Time Camera Tracking: When is High Frame-Rate Best? (PDF format),
Ankur Handa, Richard A. Newcombe, Adrien Angeli and Andrew J. Davison, ECCV 2012.

KAZE Features (PDF format),
Pablo Fernandez Alcantarilla, Adrien Bartoli and Andrew J. Davison, ECCV 2012.

Visual SLAM: Why Filter? (PDF preprint),
Hauke Strasdat, J. M. M. Montiel and Andrew J. Davison, Image and Vision Computing 2012 (Editor's Choice Paper).

KinectFusion: Real-Time Dense Surface Mapping and Tracking (PDF format),
Richard A. Newcombe, Shahram Izadi, Otmar Hilliges, David Molyneaux, David Kim, Andrew J. Davison, Pushmeet Kohli, Jamie Shotton, Steve Hodges, and Andrew Fitzgibbon, ISMAR 2011 (Winner, Best Science and Technology Paper).

Double Window Optimisation for Constant Time Visual SLAM (PDF format),
Hauke Strasdat, Andrew J. Davison, J. M. M. Montiel and Kurt Konolige, ICCV 2011.

DTAM: Dense Tracking and Mapping in Real-Time (PDF format),
Richard A. Newcombe, Steven Lovegrove and Andrew J. Davison, ICCV 2011 (Winner, Best Demonstration).

Lightweight SLAM and Navigation with a Multi-Camera Rig (PDF format),
Gerardo Carrera, Adrien Angeli and Andrew J. Davison, ECMR 2011.

Accurate Visual Odometry from a Rear Parking Camera (PDF format),
Steven Lovegrove, Andrew J. Davison and Javier Ibañez-Guzmán, Intelligent Vehicles Symposium 2011.

SLAM-Based Automatic Extrinsic Calibration of a Multi-Camera Rig (PDF format),
Gerardo Carrera, Adrien Angeli and Andrew J. Davison, ICRA 2011.

1-Point RANSAC for EKF Filtering: Application to Real-Time Structure from Motion and Visual Odometry (PDF format),
Javier Civera, Oscar G. Grasa, Andrew J. Davison and J. M. M. Montiel, Journal of Field Robotics 2010.

Real-Time Spherical Mosaicing using Whole Image Alignment (PDF format),
Steven Lovegrove and Andrew J. Davison, ECCV 2010.

Live Feature Clustering in Video Using Appearance and 3D Geometry (PDF format),
Adrien Angeli and Andrew J. Davison, BMVC 2010.

Scale Drift-Aware Large Scale Monocular SLAM (PDF format),
Hauke Strasdat, J. M. M. Montiel and Andrew J. Davison, RSS 2010.

Live Dense Reconstruction with a Single Moving Camera (PDF format),
Richard A. Newcombe and Andrew J. Davison, CVPR 2010.

Scalable Active Matching (PDF format),
Ankur Handa, Margarita Chli, Hauke Strasdat and Andrew J. Davison, CVPR 2010.

Real-Time Monocular SLAM: Why Filter? (PDF format),
Hauke Strasdat, J. M. M. Montiel and Andrew J. Davison, ICRA 2010 (Winner, Best Vision Paper).

Active Matching for Visual Tracking (PDF format),
Margarita Chli and Andrew J. Davison, Robotics and Autonomous Systems (Special Issue on "Inside Data Association") 2009.

1-Point RANSAC for EKF-Based Structure from Motion (PDF format),
Javier Civera, Oscar G. Grasa, Andrew J. Davison and J. M. M. Montiel, IROS 2009.

Automatically and Efficiently Inferring the Hierarchical Structure of Visual Maps (PDF format),
Margarita Chli and Andrew J. Davison, ICRA 2009.

Camera Self-Calibration for Sequential Bayesian Structure From Motion (PDF format),
Javier Civera, Diana R. Bueno, Andrew J. Davison and J. M. M. Montiel, ICRA 2009 (Finalist, Best Vision Paper).

Drift-Free Real-Time Sequential Mosaicing (PDF format),
Javier Civera, Andrew J. Davison, J. A. Magallón and J. M. M. Montiel, IJCV 2009.

Guest Editorial Special Issue on Visual SLAM (PDF format),
José Neira, Andrew J. Davison and John J. Leonard, IEEE T-RO 2008.

Active Matching (PDF format),
Margarita Chli, Andrew J. Davison, ECCV 2008.

Improving Localization Robustness in Monocular SLAM Using a High-Speed Camera (PDF format),
Peter Gemeiner, Andrew J. Davison and Markus Vincze, RSS 2008.

Inverse Depth Parametrization for Monocular SLAM (PDF format),
Javier Civera, Andrew J. Davison and J. M. M. Montiel, IEEE T-RO 2008.

Integrating Walking and Vision to Increase Humanoid Autonomy (PDF format)
O. Stasse, B. Verrelst, A. J. Davison, N. Mansard, F. Saidi, B. Vanderborght, C. Esteves and K. Yokoi, IEEE IJHR 2008.

Interacting Multiple Model Monocular SLAM (PDF format),
Javier Civera, Andrew J. Davison and J. M. M. Montiel, ICRA 2008.

Mapping Large Loops with a Single Hand-Held Camera (PDF format),
Laura A. Clemente, Andrew J. Davison, Ian Reid, José Neira and Juan D. Tardós, RSS 2007.

Dimensionless Monocular SLAM (PDF format),
Javier Civera, Andrew J. Davison and J. M. M. Montiel, IBPRIA 2007.

Inverse Depth to Depth Conversion for Monocular SLAM (PDF format),
Javier Civera, Andrew J. Davison and J. M. M. Montiel, ICRA 2007.

MonoSLAM: Real-Time Single Camera SLAM (PDF format),
Andrew J. Davison, Ian Reid, Nicholas Molton and Olivier Stasse, IEEE Trans. PAMI 2007.

Real-Time 3D SLAM for a Humanoid Robot considering Pattern Generator Information (PDF format),
Olivier Stasse, Andrew J. Davison, Ramzi Sellaouti and Kazuhito Yokoi, IROS 2006.

Simultaneous Stereoscope Localization and Soft-Tissue Mapping for Minimally Invasive Surgery (PDF format),
Peter Mountney, Danail Stoyanov, Andrew J. Davison and Guang-Zhong Yang, MICCAI 2006.

Real-Time Monocular SLAM with Straight Lines (PDF format),
Paul Smith, Ian Reid and Andrew J. Davison, BMVC 2006.

Unified Inverse Depth Parametrization for Monocular SLAM (PDF format),
J. M. M. Montiel, Javier Civera and Andrew J. Davison, RSS 2006.

A Visual Compass based on SLAM (PDF format),
J. M. M. Montiel and Andrew J. Davison, ICRA 2006.

Active Control for Single Camera SLAM (PDF format),
Teresa Vidal-Calleja, Andrew J. Davison, Juan Andrade-Cetto and David W. Murray, ICRA 2006.

Active Search for Real-Time Vision (PDF format),
Andrew J. Davison, ICCV 2005.

Locally Planar Patch Features for Real-Time Structure from Motion (PDF format),
Nicholas Molton, Andrew J. Davison and Ian Reid, BMVC 2004.

Interaction Between Hand and Wearable Camera in 2D and 3D Environments (PDF format),
Walterio Mayol, Andrew J. Davison, Ben Tordoff, Nicholas Molton and David W. Murray, BMVC 2004.

Real-Time 3D SLAM with Wide-Angle Vision (PDF format),
Andrew J. Davison, Yolanda Gonzalez Cid and Nobuyuki Kita, IAV 2004.

Real-Time Simultaneous Localisation and Mapping with a Single Camera (PDF format),
Andrew J. Davison, ICCV 2003.

Real-Time Localisation and Mapping with Wearable Active Vision (PDF format),
Andrew J. Davison, Walterio Mayol and David W. Murray, ISMAR 2003

Modelling the World in Real-Time: How Robots Engineer Information (PDF format),
Andrew J. Davison, 2003 Special Christmas Issue of the Philosophical Transactions of the Royal Society A.

SLAM with a Single Camera (PDF format),
Andrew J. Davison, SLAM/CML Workshop at ICRA 2002.

Simultaneous Localisation and Map-Building Using Active Vision (PDF format),
Andrew J. Davison and David W. Murray, IEEE Trans. PAMI, July 2002.

Active Visual Localization for Multiple Inspection Robots (PDF format),
Andrew J. Davison and Nobuyuki Kita, Advanced Robotics Journal, 2002 (special issue on best papers from IROS 2000).

3D Simultaneous Localisation and Map-Building Using Active Vision for a Robot Moving on Undulating Terrain (PDF format),
Andrew J. Davison and Nobuyuki Kita, CVPR 2001.

Automatic Partitioning of High Dimensional Search Spaces associated with Articulated Body Motion Capture (PDF format),
Jonathan Deutscher, Andrew J. Davison and Ian Reid, CVPR 2001.

Towards Constant Time SLAM using Postponement (PDF format),
Joss Knight, Andrew J. Davison and Ian Reid, IROS 2001.

Markerless Motion Capture of Complex Full-Body Movement for Character Animation (GZIP PS format),
Andrew J. Davison, Jonathan Deutscher and Ian Reid, Eurographics Workshop on Animation and Simulation, 2001.

Sequential Localisation and Map-Building for Real-Time Computer Vision and Robotics (PDF format),
Andrew J. Davison and Nobuyuki Kita, Robotics and Autonomous Systems, 2001.

Sequential Localisation and Map-Building in Computer Vision and Robotics (GZIP PS format),
Andrew J. Davison and Nobuyuki Kita, SMILE Workshop at ECCV 2000.

Active Visual Localisation for Cooperating Inspection Robots (GZIP PS format),
Andrew J. Davison and Nobuyuki Kita, IROS 2000.

Mobile Robot Localisation Using Active Vision (PDF format),
Andrew J. Davison and David W. Murray, ECCV 1998.

Mobile Robot Navigation Using Active Vision (PDF format),
D.Phil (Ph.D) Thesis, Andrew J. Davison, University of Oxford, 1998.

Andrew Davison