Will Maddern

Alumni

Biography

Will joined the Mobile Robotics Group in 2012 to work on localisation and navigation systems for autonomous road vehicles. He was the leader of the autonomous Nissan LEAF project and coordinated the release of the Oxford RobotCar Dataset.

Will holds a BEng (Mechatronics) from the University of Queensland and a PhD from the Queensland University of Technology, both in Brisbane, Australia. His research topic was large-scale appearance-based SLAM using a continuous trajectory representation (CAT-SLAM).

During his PhD, Will spent time as a visiting research student at the Mobile Robotics Group. He investigated information-theoretic methods for point cloud registration to calibrate 2D and 3D laser scanners, mono and stereo cameras and INS systems for the Wildcat platform.

In his spare time Will enjoys épée fencing.

Current Projects

Will is currently working on the following research topics:

Multi-camera localisation using 3D prior maps
Dense scene flow and understanding using stereo
Spectral calibration for camera-based localisation and mapping
Long-term navigation with 2D LIDAR and stereo vision
Lifelong multi-modal sensor calibration
Urban classification with 3D semantic maps
Large scale dataset management (see Oxford RobotCar Dataset

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}
}

2019

S. Chadwick, W. Maddern, and P. Newman, “Distant Vehicle Detection Using Radar and Vision,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.
[Bibtex]

@InProceedings{ICRA19_chadwick,
author = {Chadwick, Simon and Maddern, Will and Newman, Paul},
title = {Distant Vehicle Detection Using Radar and Vision},
year = {2019},
address = {Montreal, Canada},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/ICRA19_chadwick.pdf},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
}

2018

T. Bruls, W. Maddern, A. A. Morye, and P. Newman, “Mark Yourself: Road Marking Segmentation via Weakly-Supervised Annotations from Multimodal Data,” in 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018.
[Bibtex]

@InProceedings{2018ICRA_bruls,
author = {Tom Bruls and Will Maddern and Akshay A. Morye and Paul Newman},
title = {Mark Yourself: Road Marking Segmentation via Weakly-Supervised Annotations from Multimodal Data},
booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
year = {2018},
address = {Brisbane, Australia},
month = {May},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018ICRA_bruls.pdf},
}

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},
}

H. Porav, W. Maddern, and P. Newman, “Adversarial training for adverse conditions: Robust metric localisation using appearance transfer,” in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, p. 1011–1018.
[Bibtex]

@inproceedings{porav2018adversarial,
title={Adversarial training for adverse conditions: Robust metric localisation using appearance transfer},
author={Porav, Horia and Maddern, Will and Newman, Paul},
booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},
pages={1011--1018},
year={2018},
organization={IEEE},
pdf={https://arxiv.org/pdf/1803.03341.pdf}
}

2017

T. Sattler, W. Maddern, A. Torii, J. Sivic, T. Pajdla, M. Pollefeys, and M. Okutomi, “Benchmarking 6DOF Urban Visual Localization in Changing Conditions,” ArXiv e-prints, 2017.
[Bibtex]

@Article{SattlerArXivJune2017,
author = {Sattler, Torsten and Maddern, Will and Torii, Akikiho and Sivic, Josef and Pajdla, Tomas and Pollefeys, Mark and Okutomi, Masatoshi},
title = {Benchmarking 6DOF Urban Visual Localization in Changing Conditions},
journal = {ArXiv e-prints},
year = {2017},
month = aug,
archiveprefix = {arXiv},
eprint = {1707.09092},
pdf = {https://arxiv.org/pdf/1707.09092.pdf},
keywords = {Computer Science - Computer Vision and Pattern Recognition},
primaryclass = {cs.CV},
url = {https://arxiv.org/abs/1707.09092},
}

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},
}

D. Barnes, W. Maddern, and I. Posner, “Find Your Own Way: Weakly-Supervised Segmentation of Path Proposals for Urban Autonomy,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.
[Bibtex]

@InProceedings{BarnesICRA2017,
author = {Barnes, Dan and Maddern, Will and Posner, Ingmar},
title = {{Find Your Own Way: Weakly-Supervised Segmentation of Path Proposals for Urban Autonomy}},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2017},
address = {Singapore},
month = {June},
pdf = {https://arxiv.org/pdf/1610.01238.pdf},
url = {https://arxiv.org/abs/1610.01238},
}

2016

W. Maddern and P. Newman, “Real-time probabilistic fusion of sparse 3D LIDAR and dense stereo,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016.
[Bibtex]

@InProceedings{MaddernIROS2016,
author = {Maddern, Will and Newman, Paul},
title = {Real-time probabilistic fusion of sparse 3D LIDAR and dense stereo},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2016},
address = {Daejeon, South Korea},
month = {October},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2016IROS_maddern.pdf},
}

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},
}

D. Barnes, W. Maddern, and I. Posner, “Exploiting 3D Semantic Scene Priors for Online Traffic Light Interpretation,” in Proceedings of the IEEE Intelligent Vehicles Symposium (IV), Seoul, South Korea, 2015.
[Bibtex]

@InProceedings{BarnesIV2015,
author = {Barnes, Dan and Maddern, Will and Posner, Ingmar},
title = {{E}xploiting {3D} {S}emantic {S}cene {P}riors for {O}nline {T}raffic {L}ight {I}nterpretation},
booktitle = {{P}roceedings of the {IEEE} {I}ntelligent {V}ehicles {S}ymposium ({IV})},
year = {2015},
address = {Seoul, South Korea},
month = {June},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015IV_barnes.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},
}

2014

W. Maddern, A. Stewart, and P. Newman, “LAPS-II: 6-DoF Day and Night Visual Localisation with Prior 3D Structure for Autonomous Road Vehicles,” in IEEE Intelligent Vehicles Symposium (IV), Dearborn, MI, USA, 2014.
[Bibtex]

@InProceedings{MaddernIVS2014,
author = {Will Maddern and Alex Stewart and Paul Newman},
title = {LAPS-II: 6-DoF Day and Night Visual Localisation with Prior 3D Structure for Autonomous Road Vehicles},
booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
year = {2014},
address = {Dearborn, MI, USA},
month = {June},
award = {Best Oral Presentation Runner-Up},
awardlink = {http://www.ieeeiv.net/index.php},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014IVS_maddern.pdf},
}

W. Maddern, A. Stewart, C. McManus, B. Upcroft, W. Churchill, and P. Newman, “Illumination Invariant Imaging: Applications in Robust Vision-based Localisation, Mapping and Classification for Autonomous Vehicles,” in Proceedings of the Visual Place Recognition in Changing Environments Workshop, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
[Bibtex]

@InProceedings{MaddernICRA2014,
author = {Will Maddern and Alex Stewart and Colin McManus and Ben Upcroft and Winston Churchill and Paul Newman},
title = {Illumination Invariant Imaging: Applications in Robust Vision-based Localisation, Mapping and Classification for Autonomous Vehicles},
booktitle = {Proceedings of the Visual Place Recognition in Changing Environments Workshop, IEEE International Conference on Robotics and Automation (ICRA)},
year = {2014},
address = {Hong Kong, China},
month = {May},
date-added = {2014-04-29 01:10:22 +0000},
date-modified = {2014-04-29 01:12:06 +0000},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014ICRA_maddern.pdf},
}

B. Upcroft, C. McManus, W. Churchill, W. Maddern, and P. Newman, “Lighting Invariant Urban Street Classification,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
[Bibtex]

@InProceedings{Upcroft2014,
author = {Ben Upcroft and Colin McManus and Winston Churchill and Will Maddern and Paul Newman},
title = {Lighting Invariant Urban Street Classification},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2014},
address = {Hong Kong, China},
month = {May},
date-added = {2014-02-12 18:47:43 +0000},
date-modified = {2014-02-12 18:51:28 +0000},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014ICRA_upcroft.pdf},
}

C. McManus, W. Churchill, W. Maddern, A. Stewart, and P. Newman, “Shady Dealings: Robust, Long- Term Visual Localisation using Illumination Invariance,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
[Bibtex]

@InProceedings{McManusICRA2014,
author = {Colin McManus and Winston Churchill and Will Maddern and Alex Stewart and Paul Newman},
title = {Shady Dealings: Robust, Long- Term Visual Localisation using Illumination Invariance},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2014},
address = {Hong Kong, China},
month = {May},
date-added = {2014-02-12 18:44:35 +0000},
date-modified = {2014-02-12 18:51:19 +0000},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014ICRA_McManus.pdf},
}

2012

W. Maddern, A. Harrison, and P. Newman, “Lost in Translation (and Rotation): Fast Extrinsic Calibration for 2D and 3D LIDARs,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Minnesota, USA, 2012.
[Bibtex]

@InProceedings{MaddernICRA2012,
author = {Will Maddern and Alastair Harrison and Paul Newman},
title = {Lost in Translation (and Rotation): Fast Extrinsic Calibration for 2D and 3D LIDARs},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
year = {2012},
address = {Minnesota, USA},
month = {May},
date-modified = {2012-03-06 10:12:42 +0000},
pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2012ICRA_wm_arh_pmn.pdf},
keywords = {2D and 3D Laser Extrinsic Calibration},
owner = {ashley},
timestamp = {2012.02.02},
}

Past Publications

2014

W. Maddern, “Continuous Appearance-based Localisation and Mapping,” PhD Thesis, 2014.
[Bibtex]

@phdthesis{maddern_phd2014,
Author = {Maddern, Will},
Pdf = {http://eprints.qut.edu.au/65841/2/William_Maddern_Thesis.pdf},
School = {Queensland University of Technology},
Title = {{C}ontinuous {A}ppearance-based {L}ocalisation and {M}apping},
Year = {2014}}

2012

W. Maddern, M. Milford, and G. Wyeth, “Towards Persistent Indoor Appearance-based Localization, Mapping and Navigation with CAT-Graph,” in Proceedings of the IEEE Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 2012.
[Bibtex]

@inproceedings{maddern_iros2012,
Address = {Vilamoura, Portugal},
Author = {Maddern, Will and Milford, Michael and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {IEEE} {C}onference on {I}ntelligent {R}obots and {S}ystems {(IROS)}},
Month = {October},
Title = {{T}owards {P}ersistent {I}ndoor {A}ppearance-based {L}ocalization, {M}apping and {N}avigation with {CAT-Graph}},
Year = {2012}}

W. Maddern, M. Milford, and G. Wyeth, “Towards Robust Night and Day Place Recognition using Visible and Thermal Imaging,” in Proceedings of the Robotics: Science and Systems Conference (RSS): Workshop on Alternative Sensing Techniques for Robotic Perception, Sydney, Australia, 2012.
[Bibtex]

@inproceedings{maddern_rss2012b,
Address = {Sydney, Australia},
Author = {Maddern, Will and Milford, Michael and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {R}obotics: {S}cience and {S}ystems {C}onference {(RSS)}: {W}orkshop on {A}lternative {S}ensing {T}echniques for {R}obotic {P}erception},
Month = {July},
Pdf = {http://rss-workshop.acfr.usyd.edu.au/papers/Maddern%20-%20Towards%20robust%20night%20and%20day%20place%20recognition.pdf},
Title = {{T}owards {R}obust {N}ight and {D}ay {P}lace {R}ecognition using {V}isible and {T}hermal {I}maging},
Year = {2012}}

W. Maddern, M. Milford, and G. Wyeth, “Towards Persistent Localization and Mapping with a Continuous Appearance-based Topology,” in Proceedings of the Robotics: Science and Systems Conference (RSS), Sydney, Australia, 2012.
[Bibtex]

@inproceedings{maddern_rss2012a,
Address = {Sydney, Australia},
Annote = {full-paper-refereed},
Author = {Maddern, Will and Milford, Michael and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {R}obotics: {S}cience and {S}ystems {C}onference {(RSS)}},
Month = {July},
Pdf = {http://roboticsproceedings.org/rss08/p36.pdf},
Title = {{T}owards {P}ersistent {L}ocalization and {M}apping with a {C}ontinuous {A}ppearance-based {T}opology},
Year = {2012}}

A. Glover, W. Maddern, M. Warren, S. Reid, M. Milford, and G. Wyeth, “OpenFABMAP: An Open Source Toolbox for Appearance-based Loop Closure Detection,” in Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Minnesota, USA, 2012.
[Bibtex]

@inproceedings{glover_icra2012,
Address = {Minnesota, USA},
Annote = {full-paper-refereed},
Author = {Glover, Arren and Maddern, Will and Warren, Michael and Reid, Stephanie and Milford, Michael and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {IEEE} {C}onference on {R}obotics and {A}utomation {(ICRA)}},
Month = {May},
Pdf = {http://eprints.qut.edu.au/50317/1/glover_ICRA2012_final.pdf},
Title = {{O}pen{FABMAP}: {A}n {O}pen {S}ource {T}oolbox for {A}ppearance-based {L}oop {C}losure {D}etection},
Year = {2012}}

W. Maddern, M. Milford, and G. Wyeth, “Capping Computation Time and Storage Requirements for Appearance-based Localization with CAT-SLAM,” in Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Minnesota, USA, 2012.
[Bibtex]

@inproceedings{maddern_icra2012,
Address = {Minnesota, USA},
Annote = {full-paper-refereed},
Author = {Maddern, Will and Milford, Michael and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {IEEE} {C}onference on {R}obotics and {A}utomation {(ICRA)}},
Month = {May},
Pdf = {https://wiki.qut.edu.au/download/attachments/105777965/icra2012_pruning.pdf},
Title = {{C}apping {C}omputation {T}ime and {S}torage {R}equirements for {A}ppearance-based {L}ocalization with {CAT-SLAM}},
Year = {2012}}

W. Maddern, M. Milford, and G. Wyeth, “CAT-SLAM: Probabilistic Localization and Mapping using a Continuous Appearance-based Trajectory,” International Journal of Robotics Research (IJRR): Special Issue on Robot Vision, vol. 31, iss. 4, p. 429–451, 2012.
[Bibtex]

@article{maddern_ijrr2012,
Annote = {journal},
Author = {Maddern, Will and Milford, Michael and Wyeth, Gordon},
Journal = {{I}nternational {J}ournal of {R}obotics {R}esearch {(IJRR)}: {S}pecial {I}ssue on {R}obot {V}ision},
Month = {April},
Number = {4},
Pages = {429--451},
Pdf = {https://wiki.qut.edu.au/download/attachments/105777965/ijrr2011_catslam_final.pdf},
Title = {{CAT-SLAM}: {P}robabilistic {L}ocalization and {M}apping using a {C}ontinuous {A}ppearance-based {T}rajectory},
Volume = {31},
Year = {2012}}

2011

W. Maddern, M. Milford, and G. Wyeth, “Continuous Appearance-based Trajectory SLAM,” in Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Shanghai, China, 2011.
[Bibtex]

@inproceedings{maddern_icra2011,
Address = {Shanghai, China},
Annote = {full-paper-refereed},
Author = {Maddern, Will and Milford, Michael and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {IEEE} {C}onference on {R}obotics and {A}utomation {(ICRA)}},
Month = {May},
Pdf = {http://www.itee.uq.edu.au/think/filething/get/777/Maddern_Continuous.pdf},
Title = {{C}ontinuous {A}ppearance-based {T}rajectory {S}LAM},
Year = {2011}}

M. Milford, W. Maddern, and G. Wyeth, “A Two Week Persistent Navigation and Mapping Experiment using RatSLAM: Insights and Current Developments,” in Proceedings of the IEEE Conference on Robotics and Automation (ICRA): Workshop on Long-term Autonomy, Shanghai, China, 2011.
[Bibtex]

@inproceedings{milford_icra2011,
Address = {Shanghai, China},
Annote = {full-paper-refereed},
Author = {Milford, Michael and Maddern, Will and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {IEEE} {C}onference on {R}obotics and {A}utomation {(ICRA)}: {W}orkshop on {L}ong-term {A}utonomy},
Month = {May},
Title = {{A} {T}wo {W}eek {P}ersistent {N}avigation and {M}apping {E}xperiment using {RatSLAM}: {I}nsights and {C}urrent {D}evelopments},
Year = {2011}}

2010

W. Maddern, M. Milford, and G. Wyeth, “Loop Closure Detection on a Suburban Road Network using a Continuous Appearance-based Trajectory,” in Proceedings of the Australasian Conference on Robotics and Automation (ACRA), Brisbane, Australia, 2010.
[Bibtex]

@inproceedings{maddern_acra2010b,
Address = {Brisbane, Australia},
Annote = {full-paper-refereed},
Author = {Maddern, Will and Milford, Michael and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {A}ustralasian {C}onference on {R}obotics and {A}utomation {(ACRA)}},
Month = {December},
Pdf = {http://www.araa.asn.au/acra/acra2010/papers/pap161s1-file1.pdf},
Title = {{L}oop {C}losure {D}etection on a {S}uburban {R}oad {N}etwork using a {C}ontinuous {A}ppearance-based {T}rajectory},
Year = {2010}}

W. Maddern and G. Wyeth, “Egomotion Estimation with a Biologically-Inspired Hemispherical Camera,” in Proceedings of the Australasian Conference on Robotics and Automation (ACRA), Brisbane, Australia, 2010.
[Bibtex]

@inproceedings{maddern_acra2010a,
Address = {Brisbane, Australia},
Annote = {full-paper-refereed},
Author = {Maddern, Will and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {A}ustralasian {C}onference on {R}obotics and {A}utomation {(ACRA)}},
Month = {December},
Pdf = {http://www.araa.asn.au/acra/acra2010/papers/pap166s1-file1.pdf},
Title = {{E}gomotion {E}stimation with a {B}iologically-{I}nspired {H}emispherical {C}amera},
Year = {2010}}

A. Glover, W. Maddern, M. Milford, and G. Wyeth, “FAB-MAP + RatSLAM: Appearance-based SLAM for Multiple Times of Day,” in Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Anchorage, Alaska, 2010.
[Bibtex]

@inproceedings{glover_icra2010,
Address = {Anchorage, Alaska},
Annote = {full-paper-refereed},
Author = {Glover, Arren and Maddern, Will and Milford, Michael and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {IEEE} {C}onference on {R}obotics and {A}utomation {(ICRA)}},
Month = {May},
Pdf = {http://www.itee.uq.edu.au/think/filething/get/771/Glover_Fab-MapRatslam.pdf},
Title = {{FAB-MAP} + {RatSLAM}: {A}ppearance-based {SLAM} for {M}ultiple {T}imes of {D}ay},
Year = {2010}}

2009

W. Maddern, A. Glover, M. Milford, and G. Wyeth, “Augmenting RatSLAM using FAB-MAP-based Visual Data Association,” in Proceedings of the Australasian Conference on Robotics and Automation (ACRA), Sydney, Australia, 2009.
[Bibtex]

@inproceedings{maddern_acra2009,
Address = {Sydney, Australia},
Annote = {full-paper-refereed},
Author = {Maddern, Will and Glover, Arren and Milford, Michael and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {A}ustralasian {C}onference on {R}obotics and {A}utomation {(ACRA)}},
Month = {December},
Pdf = {http://www.araa.asn.au/acra/acra2009/papers/pap122s1.pdf},
Title = {{A}ugmenting {R}at{SLAM} using {FAB-MAP}-based {V}isual {D}ata {A}ssociation},
Year = {2009}}

2008

W. Maddern and G. Wyeth, “Development of a Hemispherical Compound Eye for Egomotion Estimation,” in Proceedings of the Australasian Conference on Robotics and Automation (ACRA), Canberra, Australia, 2008.
[Bibtex]

@inproceedings{maddern_acra2008,
Address = {Canberra, Australia},
Annote = {full-paper-refereed},
Author = {Maddern, Will and Wyeth, Gordon},
Booktitle = {{P}roceedings of the {A}ustralasian {C}onference on {R}obotics and {A}utomation {(ACRA)}},
Month = {December},
Pdf = {http://www.araa.asn.au/acra/acra2008/papers/pap164s1.pdf},
Title = {{D}evelopment of a {H}emispherical {C}ompound {E}ye for {E}gomotion {E}stimation},
Year = {2008}}