Duncan P. Frost — accepted AI-conference papers

2018

Real-Time Dense Stereo Matching With ELAS on FPGA-Accelerated Embedded Devices

Oscar Rahnama, Duncan P. Frost, Ondrej Miksik, Philip H. S. Torr

RA-L 2018

For many applications in low-power real-time robotics, stereo cameras are the sensors of choice for depth perception as they are typically cheaper and more versatile than their active counterparts. Their biggest drawback, however, is that they do not directly sense depth maps; instead, these must be

Cited by 33 Source ↗code ↗Scholar ↗

2016

Object-aware bundle adjustment for correcting monocular scale drift

Duncan P. Frost, Olaf Kähler, David William Murray

ICRA 2016

Without knowledge of the absolute baseline between images, the scale of a map from single-camera simultaneous localization and mapping system is subject to calamitous drift over time. We describe a monocular approach that in addition to point measurements also considers object detections to resolve

Cited by 60 Source ↗Scholar ↗