Visual Localisation and 3D Mapping
Beyond recognising a place, robots need their precise position and orientation, and maps that remain usable as the world changes.
Why it matters
We work on scene coordinate regression and 2D–3D matching for accurate 6-DoF localisation, on making pose-graph optimisation robust to wrong loop closures, and on reconstructing the same place across many sessions despite substantial appearance change. We also showed that structure-from-motion and visual SLAM pipelines can be tuned without any ground truth.
Team
Members of my group at the QUT Centre for Robotics and close collaborators.
Lead
Michael MilfordCollaborator
Former PhD student
Former postdoc
PhD student
Alejandro FontanCollaborator
Former PhD student
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