Biography
Geoff joined the MRG in 2013 on a Rhodes Scholarship and was a member of Worcester College. He completed his undergraduate studies at Monash University in Australia, with majors in Mechatronics Engineering, Computer Science and Mathematics.
Geoff was looking at high-precision localisation of autonomous vehicles using monocular cameras. He was also working on the release of the Oxford RobotCar Dataset.
In addition to his engineering work, Geoff has enjoyed a pint at every one of Oxford’s 142 pubs.
Publications
MRG Publications
2020
W. Maddern, G. Pascoe, M. Gadd, D. Barnes, B. Yeomans, and P. Newman, “Real-time Kinematic Ground Truth for the Oxford RobotCar Dataset,” arXiv preprint arXiv: 2002.10152, 2020.
[Bibtex]@article{RCDRTKArXiv, author = {Will Maddern and Geoffrey Pascoe and Matthew Gadd and Dan Barnes and Brian Yeomans and Paul Newman}, title = {{Real-time Kinematic Ground Truth for the Oxford RobotCar Dataset}}, journal = {arXiv preprint arXiv: 2002.10152}, url = {https://arxiv.org/pdf/2002.10152}, pdf = {https://arxiv.org/pdf/2002.10152.pdf}, year = {2020} }
2018
- D. Barnes, W. Maddern, G. Pascoe, and I. Posner, “Driven to Distraction: Self-Supervised Distractor Learning for Robust Monocular Visual Odometry in Urban Environments,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, 2018.
[Bibtex]@InProceedings{BarnesICRA2018, author = {Barnes, Dan and Maddern, Will and Pascoe, Geoffrey and Posner, Ingmar}, title = {Driven to Distraction: Self-Supervised Distractor Learning for Robust Monocular Visual Odometry in Urban Environments}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)}, year = {2018}, address = {Brisbane}, month = {May}, pdf = {https://arxiv.org/pdf/1711.06623.pdf}, url = {https://arxiv.org/abs/1711.06623}, }
2017
- G. Pascoe, W. Maddern, M. Tanner, P. Pinies, and P. Newman, “NID-SLAM: Robust Monocular SLAM using Normalised Information Distance,” in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Honolulu, HI, 2017.
[Bibtex]@InProceedings{PascoeCVPR2017, author = {Pascoe, Geoffrey and Maddern, Will and Tanner, Michael and Pinies, Pedro and Newman, Paul}, title = {{NID-SLAM}: Robust Monocular {SLAM} using Normalised Information Distance}, booktitle = {Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR)}, year = {2017}, address = {Honolulu, HI}, month = {July}, pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017CVPR_pascoe.pdf}, } - W. Maddern, G. Pascoe, C. Linegar, and P. Newman, “1 Year, 1000 km: The Oxford RobotCar dataset,” The International Journal of Robotics Research, vol. 36, iss. 1, p. 3–15, 2017.
[Bibtex]@Article{MaddernIJRR2016, author = {Maddern, Will and Pascoe, Geoffrey and Linegar, Chris and Newman, Paul}, title = {1 Year, 1000 km: The Oxford RobotCar dataset}, journal = {The International Journal of Robotics Research}, year = {2017}, volume = {36}, number = {1}, pages = {3--15}, abstract = {We present a challenging new dataset for autonomous driving: the Oxford RobotCar Dataset. Over the period of May 2014 to December 2015 we traversed a route through central Oxford twice a week on average using the Oxford RobotCar platform, an autonomous Nissan LEAF. This resulted in over 1000 km of recorded driving with almost 20 million images collected from 6 cameras mounted to the vehicle, along with LIDAR, GPS and INS ground truth. Data was collected in all weather conditions, including heavy rain, night, direct sunlight and snow. Road and building works over the period of a year significantly changed sections of the route from the beginning to the end of data collection. By frequently traversing the same route over the period of a year we enable research investigating long-term localization and mapping for autonomous vehicles in real-world, dynamic urban environments. The full dataset is available for download at: http://robotcar-dataset.robots.ox.ac.uk}, doi = {10.1177/0278364916679498}, eprint = {http://dx.doi.org/10.1177/0278364916679498}, pdf = {http://robotcar-dataset.robots.ox.ac.uk/images/robotcar_ijrr.pdf}, url = {http://dx.doi.org/10.1177/0278364916679498}, }
2015
- G. Pascoe, W. Maddern, and P. Newman, “Direct Visual Localisation and Calibration for Road Vehicles in Changing City Environments,” in IEEE International Conference on Computer Vision: Workshop on Computer Vision for Road Scene Understanding and Autonomous Driving, Santiago, Chile, 2015.
[Bibtex]@InProceedings{PascoeICCV2015, author = {Pascoe, Geoffrey and Maddern, Will and Newman, Paul}, title = {Direct Visual Localisation and Calibration for Road Vehicles in Changing City Environments}, booktitle = {IEEE International Conference on Computer Vision: Workshop on Computer Vision for Road Scene Understanding and Autonomous Driving}, year = {2015}, address = {Santiago, Chile}, month = {December}, award = {Best Paper Award}, awardlink = {https://cvrsuad2015.forge.nicta.com.au/#award}, pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICCV_Pascoe.pdf}, } - G. Pascoe, W. Maddern, and P. Newman, “Robust Direct Visual Localisation using Normalised Information Distance,” in British Machine Vision Conference (BMVC), Swansea, Wales, 2015.
[Bibtex]@InProceedings{PascoeBMVC2015, author = {Pascoe, Geoffrey and Maddern, Will and Newman, Paul}, title = {{R}obust {D}irect {V}isual {L}ocalisation using {N}ormalised {I}nformation {D}istance}, booktitle = {British Machine Vision Conference (BMVC)}, year = {2015}, address = {Swansea, Wales}, pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015BMVC_Pascoe.pdf}, } - G. Pascoe, W. Maddern, A. D. Stewart, and P. Newman, “FARLAP: Fast Robust Localisation using Appearance Priors,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
[Bibtex]@InProceedings{PascoeICRA2015, author = {Pascoe, Geoffrey and Maddern, Will and Stewart, Alexander D. and Newman, Paul}, title = {{FARLAP}: {F}ast {R}obust {L}ocalisation using {A}ppearance {P}riors}, booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})}, year = {2015}, address = {Seattle, WA, USA}, month = {May}, pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_pascoe.pdf}, } - W. Maddern, G. Pascoe, and P. Newman, “Leveraging Experience for Large-Scale LIDAR Localisation in Changing Cities,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
[Bibtex]@InProceedings{MaddernICRA2015, author = {Maddern, Will and Pascoe, Geoffrey and Newman, Paul}, title = {{L}everaging {E}xperience for {L}arge-{S}cale {LIDAR} {L}ocalisation in {C}hanging {C}ities}, booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})}, year = {2015}, address = {Seattle, WA, USA}, month = {May}, pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_maddern.pdf}, }
Prior Publications
- M. Vigelius, B. Meyer, and G. Pascoe, “Multiscale Modelling and Analysis of Collective Decision Making in Swarm Robotics,” PLoS ONE, vol. 9, iss. 11, p. e111542, 2014.
[Bibtex]@article{Pascoe2014PlosOne, Author = {Vigelius, Matthias and Meyer, Bernd and Pascoe, Geoffrey}, Journal = {PLoS ONE}, Month = {11}, Number = {11}, Pages = {e111542}, Publisher = {Public Library of Science}, Title = {Multiscale Modelling and Analysis of Collective Decision Making in Swarm Robotics}, Url = {http://dx.doi.org/10.1371%2Fjournal.pone.0111542}, Volume = {9}, Year = {2014}}
