Publications

In this section

2026

Marwan Taher, Ignacio Alzugaray, Kirill Mazur, Xin Kong and Andrew J. Davison. KV-Tracker: Real-Time Pose Tracking with Transformers. CVPR2026

Kirill Mazur, Marwan Taher and Andrew J. Davison. 4D Primitive-Mâché: Glueing Primitives for Persistent 4D Scene Reconstruction. CVPR2026

Seth Nabarro, Mark van der Wilk and Andrew J. Davison. A Distributed Gaussian Process Model for Multi-Robot Mapping. ICRA2026

2025

Hidenobu Matsuki, Gwangbin Bae, and Andrew J. Davison. 4DTAM:Non-Rigid Tracking and Mapping via Dynamic Surface Gaussians. CVPR2025

Paper Link

Aalok Patwardhan, Callum Rhodes, Gwangbin Bae, and Andrew J. Davison. U-ARE-ME: Uncertainty-Aware Rotation Estimation in Manhattan Environments. 3DV2025

Eric Dexheimer and Andrew J Davison. COMO: Compact Mapping and Odometry. ECCV2024

Gwangbin Bae and Andrew J. Davison. Rethinking Inductive Biases for Surface Normal Estimation. CVPR2024

Xin Kong, Shikun Liu, Xiaoyang Lyu, Marwan Taher, Xiaojuan Qi, Andrew J. Davison. EscherNet: A Generative Model for Scalable View Synthesis. CVPR2024

Kirill Mazur, Gwangbin Bae, Andrew J. Davison. SuperPrimitive: Scene Reconstruction at a Primitive Level. CVPR2024 (Honorable Mention)

Hidenobu Matsuki, Riku Murai, Paul H. J. Kelly, Andrew J Davison. Gaussian Splatting SLAM. CVPR2024 (Best Demo)

Hide et al_CVPR2024

Aalok Patwardhan and Andrew J. Davison. A Distributed Multi-Robot Framework for Exploration, Information Acquisition and Consensus. ICRA 2024

Marwan Taher, Ignacio Alzugaray and Andrew J. Davison. Fit-NGP: Fitting Object Models to Neural Graphics Primitives. ICRA2024

Ivan Kapelyukh*, Yifei Ren*, Ignacio Alzugaray, and Edward Johns. Dream2Real: Zero-Shot 3D object Rearrangement with Vision-Language Models. ICRA2024

Archive Link

Aalok Patwardhan, Riku Murai, Andrew J. Davison. The GBP Planner || Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation. RA-L 2023, ICRA 2023

Hidenobu Matsuki, Edgar Sucar, Tristan Laidow, Kentaro Wada, Raluca Scona, Andrew J Davison. iMODE: Real-Time Incremental Monocular Dense Mapping Using Neural Field. ICRA, 2023

Video Link

Eric Dexheimer, Andrew J Davison. Learning a Depth Covariance Function. CVPR, 2023

Xin Kong, Shikun Liu, Marwan Taher, Andrew Davison. vMAP: Vectorised Object Mapping for Neural Field SLAM. CVPR, 2023

Kirill Mazur, Edgar Sucar, Andrew Davison. Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding. arXiv, 2022

kirill et al_arXiv2022(pdf)

Iain Haughton, Edgar Sucar, Andre Mouton, Edward Johns, and Andrew Davison. Real-time Mapping of Physical Scene Properties with an Autonomous Robot Experimenter. CoRL, 2022

iain et al_corl2022(pdf)

Ivan Kapelyukh, Vitalis Vosylius, and Edward Johns. DALL-E-Bot: Introducing Web-Scale Diffusion Models to Robotics. NeurIPS, 2022 and CoRL, 2022

ivan et al-DALL-E-DOT-CoRL2022(pdf)

Aalok Patwardhan, Riku Murai, Andrew J. Davison. Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation. IEEE Robotics and Automation Letters, 2022

patwardhan_etal_arXiv2022(pdf)

Dorian F. Henning, Tristan Laidlow and Stefan Leutenegger. BodySLAM: Joint Camera Localisation, Mapping, and Human Motion Tracking. ECCV, 2022

dorian et al_eccv2022(pdf)

Shikun Liu, Shuaifeng Zhi, Edward Johns,Andrew J. Davison. Bootstrapping Semantic Segmentation with Regional Contrast. ICLR, 2022

shikunLiu_etal_iclr2022(pdf)

Kentaro Wada, Stephen James, Andrew J. Davison. ReorientBot: Learning Object Reorientation for Specific-Posed Placement. ICRA, 2022 wada_etal_ICRA2022(pdf)
Kentaro Wada, Stephen James, Andrew J. Davison. SafePicking: Learning safe object extraction via object-level mapping. ICRA, 2022 wada_etal_safepicking_ICRA2022(pdf)
Raluca Scona, Hidenobu Matsuki, Andrew J. Davison. From Scene Flow to Visual Odometry Through Local and Global Regularisation in Markov Random Fields. ICRA, 2022 Scona_etal_ICRA2022(pdf)
Stephen James, Andrew J. Davison. Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulation. ICRA, 2022

Shuaifeng Zhi, Edgar Sucar, Andre Mouton, Iain Haughton, Tristan Laidlow, Andrew J. Davison. ILabel: Interactive Neural Scene Labelling. arXiv, 2021 shuaifeng_etal_arXiv2021(pdf)

Shuaifeng Zhi, Tristan Laidlow, Stefan Leutenegger, Andrew J. Davison. In-Place Scene Labelling and Understanding with Implicit Scene Representation. ICCV, 2021 szhi_etal_iccv2021.pdf ‌

Zoe Landgraf, Raluca Scona, Tristan Laidlow, Stephen James, Stefan Leutenegger, Andrew J. Davison. SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks. ICCV, 2021

Edgar Sucar, Shikun Liu, Joseph Ortiz, Andrew J. Davison. iMAP: Implicit Mapping and Positioning in Real Time. ICCV, 2021

Hidenobu Matsuki, Raluca Scona, Jan Czarnowski, Andrew J. Davison. CodeMapping: Real-Time Dense Mapping for Sparse SLAM Using Compact Scene Representations. IROS2021 and RA-L21

Stephen James, Kentaro Wada, Tristan Laidlow, Andrew J. Davison. Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via Discretisation. arXiv:2106.12534, 2021

Stephen James, Andrew J. Davison. Q-attention: Enabling Efficient Learning for Vision-based Robotic Manipulation. arXiv:2105.14829, 2021

Shikun Liu, Shuaifeng Zhi, Edward Johns, Andrew J. Davison. Bootstrapping Semantic Segmentation with Regional Contrast. arXiv:2104.04465, 2021

Daniel Lenton, Stephen James, Ronald Clark, Andrew J. Davison. END-TO-END Egospheric Spatial Memory. ICLR2021

Edgar Sucar, Kentaro Wada, Andrew J. Davison. NodeSLAM: Neural Object Descriptors for Multi-View Shape Reconstruction. 3DV2021

Kentaro Wada, Edgar Sucar, Stephen James, Daniel Lenton and Andrew J. Davison. MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusion. CVPR2020

Jan Czarnowski, Tristan Laidlow, Ronald Clark, Andrew J. Davison. DeepFactors: Real-Time Probabilistic Dense Monocular SLAM. ICRA2020 and RA-L019

Tristan Laidlow, Jan Czarnowski, Andrea Nicastro, Ronald Clark, Stefan Leutenegger. Towards the Probabilistic Fusion of Learned Priors into Standard Pipelines for 3D Reconstruction. ICRA2020 tlaidlow_etal_icra2020.pdf

Zoe Landgraf, Fabian Falck, Michael Bloesch, Stefan Leutenegger, Andrew Davison. Comparing View-Based and Map-Based Semantic Labelling in Real-Time SLAM. ICRA2020

Stephen James, Zicong Ma, David Rovick Arrojo, Andrew J. Davison. RLBench: The Robot Learning Benchmark & Learning Environment. ICRA2020 and RA-L019

Alessandro Bonardi, Stephen James, Andrew J. Davison. Learning One-Shot Imitation from Humans without Humans. ICRA2020 and RA-L019

Stephen James, Zicong Ma, David Rovick Arrojo, Andrew J. Davison. RLBench: The Robot Learning Benchmark & Learning Environment. 2019

Michael Bloesch, Tristan Laidlow, Ronald Clark, Stefan Leutenegger, Andrew J. Davison. Learning Meshes for Dense Visual SLAM. IEEE International Conference on Computer Vision (ICCV), 2019 mbloesch_etal_iccv2019.pdf

Andrea Nicastro, Ronald Clark, Stefan Leutenegger. X-Section: Cross-Section Prediction for Enhanced RGB-D Fusion. IEEE International Conference on Computer Vision (ICCV), 2019 anicastro_etal_iccv2019.pdf anicastro_etal_supp_iccv2019.pdf ‌‌

Shuaifeng Zhi, Michael Bloesch, Stefan Leutenegger, Andrew Davison. SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representations. CVPR, 2019 szhi_etal_cvpr2019.pdf

Charlie Houseago, Michael Bloesch, Stefan Leutenegger. KO-Fusion: Dense Visual SLAM with Tightly-Coupled Kinematic and Odometric Tracking. ICRA, 2019 chouseago_etal_icra2019.pdf

Tristan Laidlow, Jan Czarnowski, Stefan Leutenegger. DeepFusion: Real-Time Dense 3D Reconstruction for Monocular SLAM using Single-View Depth and Gradient Predictions. ICRA, 2019 tlaidlow_etal_icra2019.pdf

Stephen James, Michael Bloesch, Andrew J. Davison. Task-Embedded Control Networks for Few-Shot Imitation Learning. CoRL, 2018 sjames_etal_corl2018.pdf ‌

Ronald Clark, Michael Bloesch, Jan Czarnowski, Stefan Leutenegger, Andrew J. Davison. LS-Net: Learning to Solve Nonlinear Least Squares for Monocular Stereo. ECCV, 2018 rclark_etal_eccv2018.pdf ‌

John McCormac, Ronald Clark, Michael Bloesch, Stefan Leutenegger, Andrew J. Davison. Fusion++: Volumetric Object-Level SLAM. 3DV, 2018 jmccormac_etal_3dv2018.pdf ‌‌‌‌‌‌‌‌‌‌‌

Michael Bloesch, Jan Czarnowski, Ronald Clark, Stefan Leutenegger, Andrew J. Davison. CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAM. CVPR, 2018 (*Honorable Mention) mbloesch_etal_cvpr2018.pdf ‌‌‌‌‌‌‌‌*‌‌‌

2017
Stephen James, Andrew J Davison and Edward Johns. Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage Task. CoRL, 2017 sjames_etal_corl2017.pdf ‌‌‌‌‌

Jan Czarnowski, Stefan Leutenegger, Andrew J Davison. Semantic Texture for Robust Dense Tracking. Geometry Meets Deep Learning Workshop, International Conference on Computer Vision (ICCV), 2017 jczarnowski_etal_iccv2017.pdf ‌‌‌‌‌‌

John McCormac, Ankur Handa, Stefan Leutenegger, Andrew J Davison. SceneNet RGB-D: Can 5M Synthetic Images Beat Generic ImageNet Pre-training on Indoor Segmentation?. International Conference on Computer Vision (ICCV), 2017 ‌‌ ‌‌

Tristan Laidlow, Michael Bloesch, Wenbin Li and Stefan Leutenegger. Dense RGB-D-Inertial SLAM with Map Deformations. IEEE International Conference on Intelligent Robots and Systems (IROS), 2017 tlaidlow_etal_iros2017.pdf

Robert Lukierski, Stefan Leutenegger and Andrew J. Davison. Room Layout Estimation from Rapid Omnidirectional Exploration. IEEE International Conference on Robotics and Automation (ICRA), 2017 rlukierski_etal_icra2017.pdf

John McCormac, Ankur Handa, Andrew J Davison, Stefan Leutenegger. SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks. IEEE International Conference on Robotics and Automation (ICRA), 2017 ‌jmccormac_etal_icra2017.pdf ‌‌

2016
Jacek Zienkiewicz, Akis Tsiotsios, Andrew Davison, Stefan Leutenegger. Monocular, Real-Time Surface Reconstruction using Dynamic Level of Detail. International Conference on 3D Vision (3DV), 2016 jzienkiewicz_etal_3dv2016.pdf

Jacek Zienkiewicz, Andrew J Davison, Stefan Leutenegger.Real-Time Height Map Fusion using Differentiable Rendering. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 jzienkiewicz_etal_iros2016.pdf ‌

Edward Johns, Stefan Leutenegger, Andrew J Davison. Deep Learning a Grasp Function for Grasping Under Gripper Pose Uncertainty. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 ejohns_etal_iros2016.pdf ‌

P Bardow, AJ Davison, S Leutenegger. Simultaneous Optical Flow and Intensity Estimation from an Event Camera. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016, pp. 884-892 pbarlow_etal_cvpr2016.pdf ‌‌

E Johns, S Leutenegger, AJ Davison. Pairwise Decomposition of Image Sequences for Active Multi-View Recognition. The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016, pp. 3813-3822 ejohns_etal_cvpr2016.pdf

John McCormac, Ankur Handa, Stephan Leutenegger, Andrew J. Davison. SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth. 2016 jmccormac_etal_archive2016.pdf‌

T.Whelan, R.F. Salas-Moreno, B. Glocker, A.J. Davison and S. Leutenegger. ElasticFusion: Real-Time Dense SLAM and Light Source Estimation. International Journal of Robotics Research RSS '15 Special Issue, 2016 twhelan_etal_ijrr2016.pdf

2015
R. Lukierski, S. Leutenegger, and A. J. Davison. Rapid Free-Space Mapping From a Single Omnidirectional Camera. In Proceedings of the European Conference on Mobile Robotics (ECMR), 2015 rlukierski_etal_ecmr2016.pdf ‌‌

T Whelan, S Leutenegger, B Glocker, R F Salas-Moreno, A Davison. ElasticFusion: Dense SLAM Without A Pose Graph. Proceedings of Robotics: Science and Systems (RSS), July 2015 twhelan_etal_rss2015.pdf

2014
Jacek Zienkiewicz, Andrew Davison. Extrinsics Auto-Calibration for Dense Planar Visual Odometry. Journal of Field Robotics, 32(5), 2014 jzienkiewicz_etal_jfr2014.pdf ‌

Other Publications

The following publications were created by either current members of the Dyson Robotics Lab or the . The research they refer to was independent to Dyson funding but have been included as they provide a good insight into the technical space we work within.

Robot Vision Group Publications
Professor Andrew Davison's Publications (not including those listed above)

Robot Vision Group Publications

Summary of the table's contents
Year	Publication
2016	Hanme Kim, Stefan Leutenegger, Andrew J Davison,, ECCV 2016-European Conference on Computer Vision, 2016 Stefan Leutenegger, Christoph Hürzeler, Amanda K. Stowers, Kostas Alexis, David Achtelik Markus W .and Lentink, Paul Y. Oh, Roland Siegwart, , Springer Handbook of Robotics, pp.623–670, 2016 C. Tsiotsios, T.-K. Kim, A. J. Davison, S. G. Narasimhan, , Computer Vision and Image Understanding, volume 150, 2016
2015	Jan Jachnik, Dan B Goldman, Linjie Luo, Andrew J. Davison, , arXiv:1502.01954 [cs.GR], 2015
2014	R. F. Salas-Moreno, B. Glocker, P. H. J. Kelly, A. J. Davison, , ISMAR, 2014 H. Kim, A. Handa, R. Benosman, S.-H. Ieng, A. J. Davison, , BMVC, 2014 P.-L. Chang, A. Handa, A. J. Davison, D. Stoyanov, P. E. Edwards, , IPCAI, 2014 C. Tsiotsios, M. E. Angelopoulou, T.-K. Kim, A. J. Davison, , CVPR, 2014 A. Handa, T. Whelan, J. McDonald, A. J. Davison, , ICRA, 2014
2013	Renato F. Salas-Moreno, Richard A. Newcombe, Hauke Strasdat, Paul H.J. Kelly, Andrew J. Davison, , CVPR, pp.1352–1359, 2013 Ping-Lin Chang, Danail Stoyanov, Andrew J. Davison, Philip “Eddie” Edwards, , MICCAI, 2013 Jacek Zienkiewicz, Robert Lukierski, Andrew Davison, , BMVC, 2013 A. Handa, , 2013
2012	R. A. Newcombe, , 2012 Hauke Strasdat, , 2012 G. C. Mendoza, , 2012 P. F. Alcantarilla, A. Bartoli, A. J. Davison, , ECCV, 2012 H. Strasdat, J. M. M. Montiel, A. J. Davison, , IVC, volume 30, pp.65–77, 2012 Ankur Handa, Richard A. Newcombe, Adrien Angeli, Andrew J. Davison, , ECCV, 2012
2011	S. J. Lovegrove, , 2011 A. Handa, R. A. Newcombe, A. Angeli, A. J. Davison, , 2011 H. Strasdat, A. J. Davison, J. M. M. Montiel, K. Konolige, , ICCV, 2011 G. Carrera, A. Angeli, A. J. Davison, , ECMR, 2011 G. Carrera, A. Angeli, A. J. Davison, , ICRA, 2011
2010	A. Angeli, A. J. Davsion, , BMVC, 2010 H. Strasdat, J. M. M. Montiel, A. J. Davison, ,RSS, 2010 A. Handa, M. Chli, H. Strasdat, A. J. Davison, , CVPR, 2010 H. Strasdat, J. M. M. Montiel, A. J. Davison, , ICRA, 2010 Richard A. Newcombe, Andrew J. Davison, , CVPR, 2010 J. Civera, O. Grasa, A. J. Davison, J. M. M. Montiel, , Journal of Field Robotics, volume 27, pp.609–631, 2010 S. J. Lovegrove, A. J. Davison, ,ECCV, 2010
2009	M. Chli, A. J. Davison, , RAS, volume 57, pp.1173 – 1187, 2009, Special Issue `Inside Data Association' M. Chli, , 2009 J. Civera, O. G. Grasa, A. J. Davison, J. M. M. Montiel, , IROS, 2009 M. Chli, A. J. Davison, , ICRA, 2009 J. Civera, D. R. Bueno, A. J. Davison, J. M. M. Montiel, , ICRA, 2009 J. Civera, A. J. Davison, J. A. Magall'on, J. M. M. Montiel, , IJCV, volume 81, pp.128–137, 2009
2008	O. Stasse, F. Saidi, K. Yokoi, B. Verrelst, B. Vanderborght, A. J. Davison, N. Mansard, C. Esteves,, IJHR, volume 5, pp.287–310, 2008 J. Civera, A. J. Davison, J. M. M. Montiel, , ICRA, 2008 J. Neira, A. J. Davison, J. J. Leonard, , TRO, volume 24, pp.929–931, 2008 M. Chli, A. J. Davison, , ECCV, 2008 P. Gemeiner, A. J. Davison, M. Vincze, , RSS, 2008 J. Civera, A. J. Davison, J. M. M. Montiel, , TRO, volume 24, pp.932–945, 2008
2007	Andrew J. Davison, Ian Reid, Nicholas D Molton, Olivier Stasse, , PAMI, volume 29, pp.1052–1067, 2007 L. A. Clemente, A. J. Davison, I. Reid, J. Neira, J. D. Tard'os, , RSS, 2007 J. Civera, A. J. Davison, J. M. M. Montiel, , ICRA, 2007 J. Civera, A. J. Davison, J. M. M. Montiel, , IBPRIA, 2007

Professor Andrew Davison's Publications (not including those listed above)

Summary of the table's contents
Year	Publication
2018	Andrew J. Davison. , arXiv:1803.11288
2008	José Neira, Andrew J. Davison and John J. Leonard, , IEEE T-RO 2008.
2006	Olivier Stasse, Andrew J. Davison, Ramzi Sellaouti and Kazuhito Yokoi, , IROS 2006. Peter Mountney, Danail Stoyanov, Andrew J. Davison and Guang-Zhong Yang, , MICCAI 2006. Paul Smith, Ian Reid and Andrew J. Davison, , BMVC 2006. J. M. M. Montiel, Javier Civera and Andrew J. Davison, , RSS 2006. J. M. M. Montiel and Andrew J. Davison, , ICRA 2006. Teresa Vidal-Calleja, Andrew J. Davison, Juan Andrade-Cetto and David W. Murray, , ICRA 2006.
2005	Andrew J. Davison, , ICCV 2005.
2004	Nicholas Molton, Andrew J. Davison and Ian Reid, , BMVC 2004. Walterio Mayol, Andrew J. Davison, Ben Tordoff, Nicholas Molton and David W. Murray, , BMVC 2004. Andrew J. Davison, Yolanda Gonzalez Cid and Nobuyuki Kita, , IAV 2004.
2003	Andrew J. Davison, , ICCV 2003. Andrew J. Davison, Walterio Mayol and David W. Murray, , ISMAR 2003 Andrew J. Davison, , 2003 Special Christmas Issue of the Philosophical Transactions of the Royal Society A.
2002	Andrew J. Davison, , SLAM/CML Workshop at ICRA 2002. Andrew J. Davison and David W. Murray, , IEEE Trans. PAMI, July 2002. Andrew J. Davison and Nobuyuki Kita, , Advanced Robotics Journal, 2002 (special issue on best papers from IROS 2000).
2001	Jonathan Deutscher, Andrew J. Davison and Ian Reid, , CVPR 2001. Joss Knight, Andrew J. Davison and Ian Reid, , IROS 2001. Andrew J. Davison, Jonathan Deutscher and Ian Reid, , Eurographics Workshop on Animation and Simulation, 2001. Andrew J. Davison and Nobuyuki Kita, , Robotics and Autonomous Systems, 2001.
2000	Andrew J. Davison and Nobuyuki Kita, , SMILE Workshop at ECCV 2000. Andrew J. Davison and Nobuyuki Kita, , IROS 2000.
1998	Andrew J. Davison and David W. Murray, , ECCV 1998. Andrew J. Davison, , D.Phil (Ph.D) Thesis, University of Oxford, 1998.