Tom Botterill's computer vision research page

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I'm about to move to San Diego to start a new computer vision research job.

I've just finished a postdoc at the Department of Computer Science, University of Canterbury, Christchurch, New Zealand, where I worked on a project to build a computer-vision based robot that prunes vines with a robot arm (recently featured in Idealog magazine). I also work for Tiro Lifesciences on the DIET breast cancer screening project, and with the Spatial Engineering Research Centre.

Email:

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

Publications: Single Camera SLAM and BoW, Robot arm motion planning, RANSAC for relative pose via the essential matrix, Computer vision for elastographic breast cancer screening, Pedestrian navigation using IMU+vision, Structured light, 3D vine reconstruction from images, Aerial Image Mosaicing

Full list from UC or Google Scholar

Tom with the pruner robot

Vine structure from images
Vine skeleton

"A robot system for pruning grape vines", Tom Botterill and Scott Paulin and Richard Green and Samuel Williams and Jessica Lin and Valerie Saxton and Steven Mills and XiaoQi Chen and Sam Corbett-Davies, to appear in the Journal of Field Robotics, 2016. Bibtex... Video showing the 3D reconstruction of vines, and the robot pruning vines in the vineyard.

"A decision-theoretic formulation for sparse stereo correspondence problems", Tom Botterill and Richard Green and Steven Mills, In Proceedings of 3DV, 2014. Bibtex...

"Voxel carving for collision avoidance for a vine pruning robot arm", Tom Botterill and Richard Green and Steven Mills, In Proceedings of Image and Vision Computing New Zealand, 2014. Bibtex...

"Finding a vine's structure by bottom-up parsing of cane edges", Tom Botterill and Richard Green and Steven Mills, In Proceedings of Image and Vision Computing New Zealand, 2013. Bibtex...

"Reconstructing partially visible models using stereo vision, structured light, and the g2o framework", Tom Botterill and Richard Green and Steven Mills, In Proceedings of Image and Vision Computing New Zealand, 2012. Bibtex...

"An expert system for automatically pruning vines", Sam Corbett-Davies and Tom Botterill and Richard Green and Valerie Saxton, In Proceedings of Image and Vision Computing New Zealand, 2012. Bibtex...

"Quantitative analysis of skeletonisation algorithms for modelling of branches", Will Gittoes and Tom Botterill and Richard Green, In Proceedings of Image and Vision Computing New Zealand, 2011. Bibtex...

Robot arm motion planning
Pruning Robot Motion Planning

"A specialised collision detector for grape vines", Scott Paulin, Tom Botterill , XiaoQi Chen, Richard Green, Australasian conference on Robotics and Automation, 2015 Bibtex...

Single Camera SLAM
BoWSLAM

"Correcting Scale Drift by Object Recognition in Single Camera SLAM", Tom Botterill and Steven Mills and Richard Green, IEEE Transactions on Cybernetics, 2012. Bibtex...

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...

 

Computer vision for elastographic breast cancer screening
DIET Machine

"Reconstructing 3D skin surface motion for the DIET breast cancer screening system", Tom Botterill and Thomas Lotz and Amer Kashif and Geoff Chase, In IEEE Transactions on Medical Imaging, 2014. Bibtex...

 

Pedestrian navigation using IMU+vision
Optical Flow

"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
Line laser 3D model

"Detecting structured light patterns in colour images using a support vector machine", Tom Botterill and Richard Green and Steven Mills, in Proceedings of the International Conference on Image Processing (ICIP), 2013. Bibtex...

"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...

 

Machine vision hardware design

"Optimising Light Source Positions to Minimise Illumination Variation for 3D Vision", Tom Botterill, Steven Mills, Richard Green, Thomas Lotz. Proceedings of 3DimPVT 2012. Bibtex...

"Design and calibration of multi-camera systems for 3D computer vision: lessons learnt from two case studies", Tom Botterill , Matthew Signal, Steven Mills, Richard Green, In Proceedings of the Pacific-rim Symposium on Image and Video Technology workshop on Robot Vision (PSIVT-RV), 2015 Bibtex... Supplementary checklist...

 

 

Pruner project videos

Video showing the 3D reconstruction of vines, and the robot pruning vines in the vineyard.

Video of grape vine pruning on my PhD student's website

Videos from way back in my PhD

Video of real-time aerial image-mosaicing with videos from a UAV and a microlight (Based on BoWSLAM)

Video of BoWSLAM navigating a 2.5km outdoor path (constraint on allowed speeds imposed)

Video of BoWSLAM navigating two indoor datasets

Video of an early version of my Single Camera SLAM scheme, BoWSLAM

Video of Bag-of-Words for localisation for pedestrian navigation

Video of using BaySAC to estimate relative camera angles for aiding pedestrian navigation

Video of using BaySAC to find the ground plane and optical flow field, pedestrian outdoors and Antarctic UAV footage

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