Tom and Hil's website!

Tom Botterill's computer vision research page

Code - Publications - Videos - Personal website

I'm a research fellow at the Department of Computer Science, University of Canterbury, Christchurch, New Zealand. I am currently working on a real-time stereo vision system which builds 3D models of plants for horticultural robot control. I also work with the Geospatial Research Centre, studying navigation using Computer Vision (Visual Simultaneous Localisation and Mapping).

C++ source code from my PhD is now online here... includes BoWSLAM single camera SLAM, BaySAC, Bag-of-Words, k-medoids, Essential matrix estimation.

Email:

Publications: Single Camera SLAM and BoW, RANSAC for relative pose via the essential matrix, Pedestrian navigation using IMU+vision, Structured light, 2D structure from images, Aerial Image Mosaicing

Single Camera SLAM

PhD thesis (August 2010): "Visual Navigation for Mobile Robots using the Bag-of-Words Algorithm" (examined August 2011). Bibtex...

"Bag-of-Words-driven Single Camera Simultaneous Localisation and Mapping", Tom Botterill and Steven Mills and Richard Green, Journal of Field Robotics. Bibtex...

"A Bag-of-Words Speedometer for Single Camera SLAM", Tom Botterill, Richard Green, Steven Mills. Proceedings of Image and Vision Computing New Zealand 2009. Bibtex...

"Speeded-up Bag-of-Words algorithm for robot localisation through scene recognition" [NB. My thesis has more up-to-date details on my BoW scheme], Tom Botterill, Steven Mills, Richard Green. Proceedings of Image and Vision Computing New Zealand 2008. Bibtex...

RANSAC/BaySAC for essential matrix estimation

Source code...

"Fast RANSAC hypothesis generation for essential matrix estimation", Tom Botterill and Steven Mills and Richard Green, In Proceedings of the International Conference on Digital Image Computing: Techniques and Applications (DICTA), 2011. Bibtex... Source code...

"Refining essential matrix estimates from RANSAC", Tom Botterill and Steven Mills and Richard Green, In Proceedings of Image and Vision Computing New Zealand, 2011. Bibtex... Source code...

"New Conditional Sampling Strategies for Speeded-Up RANSAC" (BaySAC), Tom Botterill, Steven Mills, Richard Green. Proceedings of the British Machine Vision Conference 2009. Extended Abstract... Bibtex...

Pedestrian navigation using IMU+vision

"An Integrated IMU, GNSS and Image Recognition Sensor for Pedestrian Navigation", Chris Hide, Tom Botterill and Marcus Andreotti. Proceedings of the Institute of Navigation GNSS Conference 2009. Abstract... Bibtex...

"Development of an Integrated IMU, Image Recognition and Orientation Sensor for Pedestrian Navigation", Chris Hide and Tom Botterill. Proceedings of the 2010 International Technical Meeting of the Institute of Navigation 2010. Abstract... Bibtex...

"Vision-aided IMU for handheld pedestrian navigation", Chris Hide, Tom Botterill and Marcus Andreotti. Proceedings of the Institute of Navigation GNSS Conference 2010. Abstract... Bibtex...

"Low cost vision-aided IMU for pedestrian navigation", Chris Hide, Tom Botterill and Marcus Andreotti. Proceedings of the Ubiquitous Positioning, Indoor Navigation and Location-Based Service conference 2010. Bibtex...

3D modelling using structured light

"Design and calibration of a hybrid computer vision and structured light 3D imaging system", Tom Botterill and Steven Mills and Richard Green, In Proceedings of the International Conference on Automation, Robotics, and Applications (ICARA), 2011. Bibtex...

Image Mosaicing

"Real-time aerial image mosaicing", Tom Botterill, Steven Mills, Richard Green. Proceedings of Image and Vision Computing New Zealand 2010. Bibtex...