M
Mark Cummins
Researcher at University of Oxford
Publications - 23
Citations - 4667
Mark Cummins is an academic researcher from University of Oxford. The author has contributed to research in topics: Probabilistic logic & Mobile robot. The author has an hindex of 17, co-authored 23 publications receiving 4219 citations. Previous affiliations of Mark Cummins include Google.
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Journal ArticleDOI
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
Mark Cummins,Paul Newman +1 more
TL;DR: A probabilistic approach to the problem of recognizing places based on their appearance that can determine that a new observation comes from a previously unseen place, and so augment its map, and is particularly suitable for online loop closure detection in mobile robotics.
Journal ArticleDOI
Appearance-only SLAM at large scale with FAB-MAP 2.0
Mark Cummins,Paul Newman +1 more
TL;DR: A new formulation of appearance-only SLAM suitable for very large scale place recognition that incorporates robustness against perceptual aliasing and substantially outperforms the standard term-frequency inverse-document-frequency (tf-idf) ranking measure.
Proceedings ArticleDOI
PhotoOCR: Reading Text in Uncontrolled Conditions
TL;DR: This work describes Photo OCR, a system for text extraction from images that is capable of recognizing text in a variety of challenging imaging conditions where traditional OCR systems fail, notably in the presence of substantial blur, low resolution, low contrast, high image noise and other distortions.
Proceedings ArticleDOI
Highly scalable appearance-only SLAM - FAB-MAP 2.0
Mark Cummins,Paul Newman +1 more
TL;DR: A new formulation of appearance-only SLAM suitable for very large scale navigation that naturally incorporates robustness against perceptual aliasing is described and demonstrated performing reliable online appearance mapping and loop closure detection over a 1,000 km trajectory.
Journal ArticleDOI
A comparison of loop closing techniques in monocular SLAM
TL;DR: An implementation of eachLoop closure detection systems for monocular SLAM come in three broad categories: (i) map-to-map, (ii) image- to-image and (iii) image