Publications

2027

Conference papers (international, refereed)

WACV 2027

Why Domain Matters: Domain-Aware Benchmarking of Underwater Object Detection and Annotation Quality

Melanie Wille, Dimity Miller, Tobias Fischer, and Scarlett Raine

IEEE/CVF Winter Conference on Applications of Computer Vision 2027

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2026

Journal papers

IJHE 2026

Time-resolved oxygen bubble dynamics in proton exchange membrane electrolyser

Kinley Dorji, Dezso Sera, Jonathan Love, Simon Denman, Tobias Fischer, and Anthony P. O'Mullane

International Journal of Hydrogen Energy 2026

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RAP 2026

Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics

Steve Macenski, Matthew Booker, Joshua Wallace, and Tobias Fischer

IEEE Robotics and Automation Practice 2026

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ARC-RAS 2026

Going Places: Place Recognition in Artificial and Natural Systems

Michael Milford and Tobias Fischer

Annual Review of Control, Robotics, and Autonomous Systems 2026

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JOE 2026

Human-in-the-Loop Segmentation of Multi-species Coral Imagery

Scarlett Raine, Ross Marchant, Brano Kusy, Frederic Maire, Niko Suenderhauf, and Tobias Fischer

IEEE Journal of Oceanic Engineering 2026

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Conference papers (international, refereed)

IROS 2026

Quantile Transfer for Reliable Operating Point Selection in Visual Place Recognition

Dhyey Manish Rajani, Michael Milford, and Tobias Fischer

IEEE/RSJ International Conference on Intelligent Robots and Systems 2026

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IROS 2026

Event-Based Visual Teach-and-Repeat via Fast Fourier-Domain Cross-Correlation

Gokul Nair, Alejandro Fontan, Michael Milford, and Tobias Fischer

IEEE/RSJ International Conference on Intelligent Robots and Systems 2026

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IROS 2026

AI-driven Dispensing of Coral Reseeding Devices for Broad-scale Restoration of the Great Barrier Reef

Scarlett Raine, Emilio Olivastri, Benjamin Moshirian, and Tobias Fischer

IEEE/RSJ International Conference on Intelligent Robots and Systems 2026

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ICUAS 2026

Aerial Visual Place Recognition in Antarctica: Towards Robust Monitoring in Extreme Environments

Alejandro Fontan, Juan Sandino, Javier Civera, Tobias Fischer, Felipe Gonzalez, and Michael Milford

International Conference on Unmanned Aircraft Systems 2026

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ICRA 2026

Prepare for Warp Speed: Sub-millisecond Visual Place Recognition Using Event Cameras

Vignesh Ramanathan, Michael Milford, and Tobias Fischer

IEEE International Conference on Robotics and Automation 2026

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ICRA 2026

Event-LAB: Towards Standardized Evaluation of Neuromorphic Localization

Adam D Hines, Alejandro Fontan, Michael Milford, and Tobias Fischer

IEEE International Conference on Robotics and Automation 2026

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ICRA 2026

Automated Coral Spawn Monitoring for Reef Restoration: The Coral Spawn and Larvae Imaging Camera System (CSLICS)

Dorian Tsai, Christopher A. Brunner, Riki Lamont, F. Mikaela Nordborg, Andrea Severati, Java Terry, Karen Jackel, Matthew Dunbabin, Tobias Fischer, and Scarlett Raine

IEEE International Conference on Robotics and Automation 2026

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WACV 2026

Robust Scene Coordinate Regression via Geometrically-Consistent Global Descriptors

Son Tung Nguyen, Alejandro Fontan, Michael Milford, and Tobias Fischer

IEEE/CVF Winter Conference on Applications of Computer Vision 2026

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WACV 2026

Are All Marine Species Created Equal? Performance Disparities in Underwater Object Detection

Melanie Wille, Tobias Fischer, and Scarlett Raine

IEEE/CVF Winter Conference on Applications of Computer Vision 2026

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AAAI 2026

AI-Driven Marine Robotics: Emerging Trends in Underwater Perception and Ecosystem Monitoring

Scarlett Raine and Tobias Fischer

Annual AAAI Conference on Artificial Intelligence (Emerging Trends in AI Track) 2026

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Workshop papers (international, refereed)

ICRA 2026

Why Domain Matters: A Preliminary Study of Domain Effects in Underwater Object Detection

Melanie Wille, Dimity Miller, Tobias Fischer, and Scarlett Raine

ICRA 2026 IEEE International Conference on Robotics and Automation Workshops

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Preprints

arXiv 2026

Removing the Compute Bottleneck for Event-based Visual Place Recognition with Spiking Neural Networks

Somayeh Hussaini, Tobias Fischer, and Michael Milford

arXiv 2610.16022

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arXiv 2026

Image-Space Refraction Correction for Underwater 3D Reconstruction: Warping Flat-Port Views into Pinhole Perspective

Chelim Lim, Tobias Fischer, Emilio Olivastri, Beverley Gorry, Michael Milford, and Alejandro Fontan

arXiv 2610.07788

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arXiv 2026

Coral Grow-out Robotic Assessment System (CGRAS): Scaling Coral Recruit Monitoring Through Robotics and Computer Vision

Dorian Tsai, Scarlett Raine, Emilio Olivastri, Riki Lamont, Andrew Lui, Timothy Morris, Joshua Esplin, Christopher A. Brunner, F. Mikaela Nordborg, Reginald Wardleworth, Garima Samvedi, Karen Jackel, Matthew Dunbabin, Tobias Fischer, and Andrea Severati

arXiv 2609.38846

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arXiv 2026

Multi-viewpoint Geo-localization with Event Cameras

Adam D. Hines, Michael Milford, and Tobias Fischer

arXiv 2609.21219

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arXiv 2026

The EventCV Library for Event-Based Robotic Vision

Adam D. Hines, Michael Milford, and Tobias Fischer

arXiv 2609.21330

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arXiv 2026

TACO: A Test and Check Framework for Robust Pose Graph Optimization

Emilio Olivastri, Alberto Pretto, and Tobias Fischer

arXiv 2606.29851

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arXiv 2026

DisPlace: Discriminative Place Projections for Multi-Reference Visual Place Recognition

Dhyey Manish Rajani, Michael Milford, and Tobias Fischer

arXiv 2605.30769

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arXiv 2026

EventGeM: Global-to-Local Feature Matching for Event-Based Visual Place Recognition

Adam D. Hines, Gokul B. Nair, Nicolas Marticorena, Michael Milford, and Tobias Fischer

arXiv 2603.05807

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arXiv 2026

Automatic Map Density Selection for Locally-Performant Visual Place Recognition

Somayeh Hussaini, Tobias Fischer, and Michael Milford

arXiv 2602.21473

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arXiv 2026

Long-Term Multi-Session 3D Reconstruction Under Substantial Appearance Change

Beverley Gorry, Tobias Fischer, Michael Milford, and Alejandro Fontan

arXiv 2602.20584

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2025

Journal papers

RAL 2025

Ensemble-Based Event Camera Place Recognition Under Varying Illumination

Therese Joseph, Tobias Fischer, and Michael Milford

IEEE Robotics and Automation Letters 2025

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SciRob 2025

A compact neuromorphic system for ultra energy-efficient, on-device robot localization

Adam Hines, Michael Milford, and Tobias Fischer

Science Robotics 2025

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TRO 2025

Applications of Spiking Neural Networks in Visual Place Recognition

Somayeh Hussaini, Michael Milford, and Tobias Fischer

IEEE Transactions on Robotics 2025

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RAL 2025 & IROS 2025

Matched Filtering based LiDAR Place Recognition for Urban and Natural Environments

Therese Joseph, Tobias Fischer, and Michael Milford

IEEE Robotics and Automation Letters 2025

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NatureComms 2025

NeuroBench: A Framework for Benchmarking Neuromorphic Computing Algorithms and Systems

Jason Yik et al. (Tobias Fischer among 100 authors)

Nature Communications 2025

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Conference papers (international, refereed)

IROS 2025

VSLAM-LAB: A Comprehensive Framework for Visual SLAM Methods and Datasets

Alejandro Fontan, Tobias Fischer, Javier Civera, and Michael Milford

IEEE/RSJ International Conference on Intelligent Robots and Systems 2025

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IROS 2025

Image-Based Relocalization and Alignment for Long-Term Monitoring of Dynamic Underwater Environments

Beverley Gorry, Tobias Fischer, Michael Milford, and Alejandro Fontan

IEEE/RSJ International Conference on Intelligent Robots and Systems 2025

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IROS 2025

Improving Visual Place Recognition with Sequence-Matching Receptiveness Prediction

Somayeh Hussaini, Tobias Fischer, and Michael Milford

IEEE/RSJ International Conference on Intelligent Robots and Systems 2025

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IROS 2025

RMMI: Enhanced Obstacle Avoidance for Reactive Mobile Manipulation using an Implicit Neural Map

Nicolas Marticorena, Tobias Fischer, Jesse Haviland, and Niko Suenderhauf

IEEE/RSJ International Conference on Intelligent Robots and Systems 2025

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ICCV 2025

A Hyperdimensional One Place Signature to Represent Them All: Stackable Descriptors For Visual Place Recognition

Connor Malone, Somayeh Hussaini, Tobias Fischer, and Michael Milford

IEEE/CVF International Conference on Computer Vision 2025

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ICRA 2025

ROS2WASM: Bringing the Robot Operating System to the Web

Tobias Fischer, Isabel Paredes, Michael Batchelor, Thorsten Beier, Jesse Haviland, Silvio Traversaro, Wolf Vollprecht, Markus Schmitz, and Michael Milford

IEEE International Conference on Robotics and Automation 2025

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NICE 2025

Threshold Adaptation in Spiking Networks Enables Shortest Path Finding and Place Disambiguation

Robin Dietrich, Tobias Fischer, Nicolai Waniek, Nico Reeb, Michael Milford, Alois Knoll, and Adam Hines

Neuro-Inspired Computational Elements 2025

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Workshop papers (international, refereed)

ICCV 2025

FUSELOC: Fusing Global and Local Descriptors to Disambiguate 2D-3D Matching in Visual Localization

Son Tung Nguyen, Alejandro Fontan, Michael Milford, and Tobias Fischer

ICCV 2025 Workshop on Camera Calibration and Pose Estimation (CALIPOSE)

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Preprints

arXiv 2025

ReMoSPLAT: Reactive Mobile Manipulation Control on a Gaussian Splat

Nicolas Marticorena, Tobias Fischer, and Niko Suenderhauf

arXiv 2512.09656

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arXiv 2025

Pixi: Unified Software Development and Distribution for Robotics and AI

Tobias Fischer, Wolf Vollprecht, Bas Zalmstra, Ruben Arts, Tim de Jager, Alejandro Fontan, Adam D. Hines, Michael Milford, Silvio Traversaro, Daniel Claes, and Scarlett Raine

arXiv 2511.04827

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2024

Conference papers (international, refereed)

IROS 2024

Enhancing Visual Place Recognition via Fast and Slow Adaptive Biasing in Event Cameras

Gokul B Nair, Michael Milford, and Tobias Fischer

IEEE/RSJ International Conference on Intelligent Robots and Systems 2024

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ICRA@40

Exploring Emerging Trends and Research Opportunities in Visual Place Recognition

Antonios Gasteratos, Konstantinos A. Tsintotas, Tobias Fischer, Yiannis Aloimonos, and Michael Milford

40th Anniversary of the IEEE International Conference on Robotics and Automation 2024

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ICRA 2024

Teach and Repeat Navigation: A Robust Control Approach

Payam Nourizadeh, Michael Milford, and Tobias Fischer

IEEE International Conference on Robotics and Automation 2024

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ICRA 2024

VPRTempo: A Fast Temporally Encoded Spiking Neural Network for Visual Place Recognition

Adam Hines, Peter G Stratton, Michael Milford, and Tobias Fischer

IEEE International Conference on Robotics and Automation 2024

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WACV 2024

Image Labels Are All You Need for Coarse Seagrass Segmentation

Scarlett Raine, Ross Marchant, Brano Kusy, Frederic Maire, and Tobias Fischer

IEEE/CVF Winter Conference on Applications of Computer Vision 2024

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WACV 2024

FocusTune: Tuning Visual Localization through Focus-Guided Sampling

Son Tung Nguyen, Alejandro Fontan, Michael Milford, and Tobias Fischer

IEEE/CVF Winter Conference on Applications of Computer Vision 2024

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Workshop papers (international, refereed)

CVPR 2024

Human-in-the-Loop Segmentation of Multi-species Coral Imagery

Scarlett Raine, Ross Marchant, Brano Kusy, Frederic Maire, Niko Suenderhauf, and Tobias Fischer

CVPR 2024 Workshop on Learning With Limited Labelled Data for Image and Video Understanding

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Preprints

arXiv 2024

Look Ma, No Ground Truth! Ground-Truth-Free Tuning of Structure from Motion and Visual SLAM

Alejandro Fontan, Javier Civera, Tobias Fischer, and Michael Milford

arXiv 2412.01116

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arXiv 2024

Reducing Label Dependency for Underwater Scene Understanding: A Survey of Datasets, Techniques and Applications

Scarlett Raine, Frederic Maire, Niko Suenderhauf, and Tobias Fischer

arXiv 2411.11287

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2023

Journal papers

RAM 2023 + ICRA 2024

Visual Place Recognition: A Tutorial

Stefan Schubert, Peer Neubert, Sourav Garg, Michael Milford, and Tobias Fischer

IEEE Robotics and Automation Magazine 2023

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Conference papers (international, refereed)

ACRA 2023

Racing With ROS 2: A Navigation System for an Autonomous Formula Student Race Car

Alastair Bradford, Grant van Breda, and Tobias Fischer

Australasian Conference on Robotics and Automation 2023

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ICCV 2023

SAFE: Sensitivity-Aware Features for Out-of-Distribution Object Detection

Samuel Wilson, Tobias Fischer, Feras Dayoub, Dimity Miller, and Niko Sünderhauf

IEEE/CVF International Conference on Computer Vision 2023

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IROS 2023

Trajectory Tracking via Multiscale Continuous Attractor Networks

Therese Joseph, Tobias Fischer, and Michael Milford

IEEE/RSJ International Conference on Intelligent Robots and Systems 2023

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ICRA 2023

Ensembles of Compact, Region-specific & Regularized Spiking Neural Networks for Scalable Place Recognition

Somayeh Hussaini, Michael Milford, and Tobias Fischer

IEEE International Conference on Robotics and Automation 2023

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ICRA 2023

Boosting Performance of a Baseline Visual Place Recognition Technique by Predicting the Maximally Complementary Technique

Connor Malone, Stephen Hausler, Tobias Fischer, and Michael Milford

IEEE International Conference on Robotics and Automation 2023

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WACV 2023

Hyperdimensional Feature Fusion for Out-Of-Distribution Detection

Samuel Wilson, Tobias Fischer, Niko Sünderhauf, and Feras Dayoub

IEEE/CVF Winter Conference on Applications of Computer Vision 2023

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2022

Journal papers

TCDS 2022

Predicting Secondary Task Performance: A Directly Actionable Metric for Cognitive Overload Detection

Pierluigi Vito Amadori, Tobias Fischer, Ruohan Wang, and Yiannis Demiris

IEEE Transactions on Cognitive and Developmental Systems 2022

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RAL 2022 + ICRA 2023

How Many Events do You Need? Event-based Visual Place Recognition Using Sparse But Varying Pixels

Tobias Fischer and Michael Milford

IEEE Robotics and Automation Letters 2022 · Also selected for presentation at ICRA 2023

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RAL 2022 + IROS 2022

Point Label Aware Superpixels for Multi-species Segmentation of Underwater Imagery

Scarlett Raine, Ross Marchant, Brano Kusy, Frederic Maire, and Tobias Fischer

IEEE Robotics and Automation Letters 2022 · Also selected for presentation at IROS 2022

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T-ITS 2022

HammerDrive: A Task-Aware Driving Visual Attention Model

Pierluigi Vito Amadori, Tobias Fischer, and Yiannis Demiris

IEEE Transactions on Intelligent Transportation Systems 2022

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RAM 2022 + IROS 2022

A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems

Tobias Fischer, Wolf Vollprecht, Silvio Traversaro, Sean Yen, Carlos Herrero, and Michael Milford

IEEE Robotics and Automation Magazine 2022 · Also selected for presentation at IROS 2022

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RAL 2022 + ICRA 2022

Spiking Neural Networks for Visual Place Recognition via Weighted Neuronal Assignments

Somayeh Hussaini, Michael Milford, and Tobias Fischer

IEEE Robotics and Automation Letters 2022 · Also selected for presentation at ICRA 2022

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2021

Journal papers

RAL 2021 + IROS 2021

Probabilistic Appearance-Invariant Topometric Localization with New Place Awareness

Ming Xu, Tobias Fischer, Niko Sünderhauf, and Michael Milford

IEEE Robotics and Automation Letters 2021 · Also selected for presentation at IROS 2021

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RAL 2021 + ICRA 2021

Intelligent Reference Curation for Visual Place Recognition via Bayesian Selective Fusion

Tim Molloy, Tobias Fischer, Michael Milford, and Girish Nair

IEEE Robotics and Automation Letters 2021 · Also selected for presentation at ICRA 2021

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Conference papers (international, refereed)

IROS 2021

Fast and Robust Bio-inspired Teach and Repeat Navigation

Dominic Dall'Osto, Tobias Fischer, and Michael Milford

IEEE/RSJ International Conference on Intelligent Robots and Systems 2021

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IJCAI 2021

Where is your place, Visual Place Recognition

Tobias Fischer*, Sourav Garg*, and Michael Milford (*: equal contributions)

International Joint Conference on Artificial Intelligence 2021

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CVPR 2021

Patch-NetVLAD: Multi-Scale Fusion of Locally Global Descriptors for Place Recognition

Stephen Hausler, Sourav Garg, Ming Xu, Michael Milford, and Tobias Fischer

IEEE Conference on Computer Vision and Pattern Recognition 2021

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Workshop papers (international, refereed)

R-SS 2021

Bio-inspired Robot Perception Coupled With Robot-modeled Human Perception

Tobias Fischer

R-SS 2021 Pioneers Workshop

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Preprints

arXiv 2021

Unsupervised Complementary-aware Multi-process Fusion for Visual Place Recognition

Stephen Hausler, Tobias Fischer, and Michael Milford

arXiv 2112.04701

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2020

Journal papers

RAL 2020

Event-Based Visual Place Recognition With Ensembles of Temporal Windows

Tobias Fischer and Michael Milford

IEEE Robotics and Automation Letters 2020

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TCDS 2020 + ICDL 2020

Computational Modeling of Embodied Visual Perspective Taking

Tobias Fischer and Yiannis Demiris

IEEE Transactions on Cognitive and Developmental Systems 2020 · Also selected for presentation at ICDL 2020

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Conference papers (international, refereed)

ITSC 2020

Decision Anticipation for Driving Assistance Systems

Pierluigi Vito Amadori, Tobias Fischer, Ruohan Wang, and Yiannis Demiris

IEEE Intelligent Transportation Systems Conference 2020

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WACV 2020

Real-Time Multi-Person Pose Tracking using Data Assimilation

Caterina Buizza, Tobias Fischer, and Yiannis Demiris

IEEE/CVF Winter Conference on Applications of Computer Vision 2020

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2019

Workshop papers (international, refereed)

ICCV 2019

RT-BENE: A Dataset and Baselines for Real-Time Blink Estimation in Natural Environments

Kevin Cortacero, Tobias Fischer, and Yiannis Demiris

ICCV 2019 Workshop on Gaze Estimation and Prediction in the Wild

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2018

Journal papers

FRAI 2018

iCub-HRI: A Software Framework for Complex Human-Robot Interaction Scenarios on the iCub Humanoid Robot

Tobias Fischer, Jordi-Ysard Puigbo, Daniel Camilleri, Phuong Nguyen, Clement Moulin-Frier, Stephane Lallee, Giorgio Metta, Tony Prescott, Yiannis Demiris, and Paul F.M.J. Verschure

Frontiers in Robotics and AI 2018

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TPAMI 2018

Learning Kinematic Structure Correspondences Using Multi-Order Similarities

Hyung Jin Chang, Tobias Fischer, Maxime Petit, Martina Zambelli, and Yiannis Demiris

IEEE Transactions on Pattern Analysis and Machine Learning 2018

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TCDS 2018

DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self

Tobias Fischer*, Clement Moulin-Frier*, Maxime Petit, Gregoire Pointeau, Jordi-Ysard Puigbo, Ugo Pattacini, Sock Ching Low, Daniel Camilleri, Phuong Nguyen, Matej Hoffmann, Hyung Jin Chang, Martina Zambelli, Anne-Laure Mealier, Andreas Damianou, Giorgio Metta, Tony Prescott, Yiannis Demiris, Peter Ford Dominey, and Paul F.M.J. Verschure (*: equal contributions)

IEEE Transactions on Cognitive and Developmental Systems 2018

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