PhD Thesis

Mark Cummins
Probabilistic Localization and Mapping in Appearance Space
University of Oxford, 2009.
[PDF] [bibtex]

Selected Papers

Mark Cummins and Paul Newman
FAB-MAP: Appearance-Based Place Recognition and Mapping using a Learned Visual Vocabulary Model
Invited Applications Paper, ICML 2010.
[PDF] [bibtex]

Mark Cummins and Paul Newman
Appearance-only SLAM at large scale with FAB-MAP 2.0
International Journal of Robotics Research, November 2010.
[PDF] [bibtex] [Video]

Mark Cummins and Paul Newman
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research, June 2008.
[PDF] [bibtex] [Video1] [Video 2] [Data] [Software]

Mark Cummins and Paul Newman
Probabilistic Appearance Based Navigation and Loop Closing
ICRA 2007, Rome.
[PDF] [bibtex]

Talks

SLAM Summer School 2009
Appearance-Based Methods for Loop Closing
[Talk] [Slides]

TEDx Dublin 2010
Teaching Machines to See
[Talk]

Complete Publications

Journal Papers

Mark Cummins and Paul Newman
Accelerating FAB-MAP with Concentration Inequalities
IEEE Transactions on Robotics, December 2010.
[PDF] [bibtex]

Mark Cummins and Paul Newman
Appearance-only SLAM at large scale with FAB-MAP 2.0
International Journal of Robotics Research, November 2010.
[PDF] [bibtex]

Christopher Mei, Gabe Sibley, Mark Cummins, Paul Newman, Ian Reid
RSLAM: A System for Large-Scale Mapping in Constant-Time using Stereo
International Journal of Computer Vision, May 2010.
[PDF] [bibtex] [video] [talk] [project page]

Paul Newman, Gabe Sibley, Mike Smith, Mark Cummins, Alastair Harrison, Chris Mei, Ingmar Posner, Robbie Shade, Derik Schrter, Liz Murphy, Winston Churchill, Dave Cole, Ian Reid
Navigating, Recognising and Describing Urban Spaces With Vision and Laser
International Journal of Robotics Research, July 2009.
[PDF] [bibtex]

Brian Williams, Mark Cummins, Jos Neira, Paul Newman, Ian Reid, and Juan Tards,
A Comparison of Loop Closing Techniques in Monocular SLAM
Robotics and Autonomous Systems, 2009.
[PDF] [bibtex]

Ingmar Posner, Mark Cummins and Paul Newman
A Generative Framework for Fast Urban Labeling using Spatial and Temporal Context
Autonomous Robots, April 2009.
[PDF] [bibtex]

Mark Cummins and Paul Newman
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research, June 2008.
[PDF] [bibtex] [Video1] [Video 2] [Data] [Software]

Conference Papers

Mark Cummins and Paul Newman
FAB-MAP: Appearance-Based Place Recognition and Mapping using a Learned Visual Vocabulary Model
Invited Applications Paper, ICML 2010.
[PDF] [bibtex]

Christopher Mei, Gabe Sibley, Mark Cummins, Paul Newman, Ian Reid
A Constant-Time Efficient Stereo SLAM System
BMVC 2009, London
[PDF] [bibtex] [Video]

Mark Cummins and Paul Newman
Highly Scalable Appearance-Only SLAM - FAB-MAP 2.0
RSS 2009, Seattle.
[PDF] [bibtex] [Video]

Paul Newman, Gabe Sibley, Mark Cummins, Mike Smith, Alastair Harrison, Christopher Mei, Ian Reid
Toward Life Long Mapping
ISRR 2009, Lucerne.

Mark Cummins and Paul Newman
Accelerated Appearance-Only SLAM   << Best Vision Paper Prize
ICRA 2008, Pasadena.
[PDF] [bibtex] [Data] [Software]

Ingmar Posner, Mark Cummins and Paul Newman
Fast Probabilistic Labeling of City Maps
RSS 2008, Zurich.
[PDF] [bibtex]

Brian Williams, Mark Cummins, Jos Neira, Paul Newman, Ian Reid, Juan D. Tardos
An Image-to-map Loop Closing Method for Monocular SLAM
IROS 2008, Nice.
[PDF] [bibtex]

Paul Newman, Manjari Chandran-Ramesh, Dave Cole, Mark Cummins, Alastair Harrison, Ingmar Posner and Derik Schroter
Describing, Navigating and Recognising Urban Spaces - Building an End-to-End SLAM System
ISRR 2007, Hiroshima.
[PDF] [bibtex]

Mark Cummins and Paul Newman
Probabilistic Appearance Based Navigation and Loop Closing
ICRA 2007, Rome.
[PDF] [bibtex]

Internal

First Year Report - Probabilistic Appearance Based Navigation
[PDF]

Masters Degree Research

"Digital Orrery" - A Graphical Solar System Simulation as an Educational Tool
International Austronautical Congress, 2005
[PDF]

Sound Source Separation with Microphone Arrays
Internal report on MEng research project.
[PDF]

Digital Orrery - Numerical Methods for N-Body Simulations
Internal report on MEng research project.
[PDF]