Andrew J. Davison

End-To-End Multi-Task Learning With Attention

We propose a novel multi-task learning architecture, which allows learning of task-specific feature-level attention. Our design, the Multi-Task Attention Network (MTAN), consist...

Inverse Depth Parametrization for Monocular SLAM

We present a new parametrization for point features within monocular simultaneous localization and mapping (SLAM) that permits efficient and accurate representation of uncertain...

ElasticFusion: Real-time dense SLAM and light source estimation

We present a novel approach to real-time dense visual simultaneous localisation and mapping. Our system is capable of capturing comprehensive dense globally consistent surfel-ba...

Visual SLAM: Why filter?

Double window optimisation for constant time visual SLAM

We present a novel and general optimisation framework for visual SLAM, which scales for both local, highly accu-rate reconstruction and large-scale motion with long loop closure...