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).
My PhD thesis is now online (August 2010): "Visual Navigation for Mobile Robots using the Bag-of-Words Algorithm" (examined August 2011). Bibtex...
C++ source code from my PhD is now online here... includes BoWSLAM single camera SLAM, BaySAC, Bag-of-Words, k-medoids, Essential matrix estimation.
My Bag-of-Words scheme is available as a Windows executable--simple interface accessible from C#, python, etc.
Email:
"Fast RANSAC hypothesis generation for essential matrix estimation", Tom Botterill and Steven Mills and Richard Green, To appear in Proceedings of the International Conference on Digital Image Computing: Techniques and Applications (DICTA), 2011. Bibtex... Source code...
"Bag-of-Words-driven Single Camera Simultaneous Localisation and Mapping", Tom Botterill and Steven Mills and Richard Green, Journal of Field Robotics. Bibtex...
"Real-time aerial image mosaicing", Tom Botterill, Steven Mills, Richard Green. Proceedings of Image and Vision Computing New Zealand 2010. 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...
"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...
"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...
"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...
New! Video of real-time aerial image-mosaicing with videos from a UAV and a microlight (Based on BoWSLAM, paper submitted to IVCNZ)
New! Video of BoWSLAM navigating a 2.5km outdoor path (constraint on allowed speeds imposed)
New! 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
Poster on Object recognition to estimate robot speed in Single Camera SLAM
Poster on BaySAC--using prior probabilities to speed-up RANSAC. Code here...
Presentation to IVCNZ on Robot localisation using the Bag-of-Words algorithm