Michael Warren

Ph.D. (EECS, Queensland Univeristy of Technology, Australia)
B.E. (ITEE, University of Queensland, Australia)

Current address:
Institute for Aerospace Studies
University of Toronto
4925 Dufferin Street, Room 150B
Toronto, Ontario, Canada
M3H 5T6
michaelwarren [at] robotics.utias.utoronto.ca
michaeldwarren [at] gmail.com
cell: +1 416-854-7739
fax: +1 416-667-7799
skype: michaelwarren89
Google Scholar
Linkedin

Michael Warren

Software and CodeData SetsPublications


Software and Code

Automatic Multi-Camera Calibration Toolbox

An automated toolbox written in Matlab for calibrating multiple-overlapping cameras for use in robotic tasks.

See the Bitbucket website for more info: https://bitbucket.org/michaeldwarren/amcctoolbox/wiki/Home.

 

Calibration board

The DC1394 Multi-camera Driver

dc1394cam_driver is a C++ firewire camera driver that sits between libdc1394_22 and your user program, encapsulating the libdc1394 interface into a high level multicamera aware driver. It allows the user to setup a firewire camera using a simple interface, and not worry about the potential pitfalls of working with multiple streaming cameras.

See the Bitbucket website for more info: https://bitbucket.org/michaeldwarren/dc1394camdriver.

 

OpenFABMAP

An open source implementation of the popular FAB-MAP localisation framework

See the Google Code website for more info: https://code.google.com/p/openfabmap/.

 

SURFFeatures


Data Sets

UQ St Lucia Dataset: a 9.5km stereo vehicular dataset with INS

The UQ St Lucia Dataset is a vision dataset gathered from a car driven in a 9.5km circuit around the University of Queensland's St Lucia campus on 15/12/10. The data consists of visual data from a calibrated stereo pair, translation and orientation information as a ground truth from an XSens Mti-g INS/GPS and additional information from a USB NMEA GPS. The dataset traverses local roads and encounters a number of varying scenarios including roadworks, speed bumps, bright scenes, dark scenes, reverse traverses, a number of loop closure events, multi-lane roads, roundabouts and speeds of up to 60 km/h.

See the dedicated web page for more info: UQ St Lucia Dataset.

 

vehicle Trajectory

Kagaru Dataset: a 6.5km stereo airborne dataset with INS

The Kagaru Airborne Dataset is a vision dataset gathered from a radio-controlled aircraft flown at Kagaru, Queensland, Australia on 31/08/10. The data consists of visual data from a pair of downward facing cameras, translation and orientation information as a ground truth from an XSens Mti-g INS/GPS and additional information from a USB NMEA GPS. The dataset traverses over farmland and includes views of grass, an air-strip, roads, trees, ponds, parked aircraft and buildings.

See the dedicated web page for more info: Kagaru Dataset.

 

UAV Trajectory


Publications

For a full list of publications and citations, please visit my Google Scholar page.

PhD Thesis

M. Warren, "Long-range Stereo Visual Odometry for Unmanned Aerial Vehicles", PhD Thesis, QUT, 2015

Journal Publications

  1. M. Warren, P. Corke, B.Upcroft, "Long-range Stereo Visual Odometry for Extended Altitude Flight of Unmanned Aerial Vehicles", International Journal of Robotics Research, May 2015

Conference Publications

  1. X. Yang, L. Mejias, M. Warren, F. Gonzalez, B. Upcroft, "Recursive actuator fault detection and diagnosis for emergency landing of UASs", 19th World Congress of the International Federation of Automatic Control, Cape Town, South Africa, 2014
  2. M. Warren, L. Mejias, X. Yang, B. Arain, F. Gonzalez, B. Upcroft, "Enabling Aircraft Emergency Landings using Active Visual Site Detection", in International Conference on Field and Service Robotics, Brisbane, Australia, 2013.
  3. B. Arain, M. Warren, X. Yang, F. Gonzalez, L. Mejias, B. Upcroft, "Autonomous Forced Landing System for Light General Aviation Aircraft in Unknown Environments", in Australasian Control Conference, Perth, Australia, 2013.
  4. M. Warren, B. Upcroft, "Robust Scale Initialization for Long-Range Stereo Visual Odometry", in International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013.
  5. X. Yang, L. Mejias, F. Gonzalez, M. Warren, B. Upcroft, B, Arain, "Nonlinear Actuator Fault Detection for Small-Scale UASs", Journal of Intelligent & Robotic Systems, 2013.
  6. M. Warren, B. Upcroft, "High Altitude Stereo Visual Odometry", in Robotics: Science and Systems, Berlin, Germany, 2013. Awarded Best Interactive Student Presentation.
  7. M. Warren, D. McKinnon, B. Upcroft, "Online Calibration of Stereo Rigs for Long-Term Autonomy", in International Conference on Robotics and Automation, Karlsruhe, Germany, 2013.
  8. X. Yang, M. Warren, B. Arain, B. Upcroft, F. Gonzalez and L. Mejias, "A UKF-based Estimation Strategy for Actuator Fault Detection of UASs", in International Conference on Unmanned Aerial Systems, Atlanta, USA, 2013.
  9. M. Warren, P. Corke, O. Pizarro, S. Williams, B. Upcroft, "Visual Sea-floor Mapping from Low Overlap Imagery using Bi-objective Bundle Adjustment and Constrained Motion", in Australasian Conference on Robotics and Automation, Wellington, New Zealand, 2012.
  10. M. Warren, D. McKinnon, H. Hu, A. Glover, M. Shiel, B. Upcroft, "Large Scale Monocular Vision-only Mapping from a Fixed-Wing sUAS", in International Conference on Field and Service Robotics, Matsushima, Japan, 2012
  11. L. Murphy, T. Morris, U. Fabrizi, M. Warren, M. Milford, B. Upcroft, M. Bosse and P. Corke, "Experimental Comparison of Odometry Approaches", in International Symposium on Experimental Robotics, Quebec, Canada, 2012
  12. A. Glover, W. Maddern, M. Warren, S. Reid, M. Milford, G. Wyeth, "OpenFABMAP: An Open Source Toolbox for Appearance-based Loop Closure Detection", in International Conference on Robotics and Automation, St. Paul, USA, 2012
  13. M. Milford, D. McKinnon, M. Warren, G. Wyeth, B. Upcroft, "Feature-based Visual Odometry and Featureless Place Recognition for SLAM in 2.5D Environments", in Australasian Conference on Robotics and Automation, Melbourne, Victoria, 2011.
  14. M. Warren, D. McKinnon, H. Hu, B. Upcroft, "Unaided Stereo Vision-Based Pose Estimation", in Australasian Conference on Robotics and Automation, Brisbane, Queensland, 2010. ERA Ranking: B
  15. S. Mitchell, M. Warren, D. McKinnon, B, Upcroft, "A Robust Structure and Motion Replacement for Bundle Adjustment", in Australasian Conference on Robotics and Automation, Brisbane, Queensland, 2010. ERA Ranking: B
  16. H. Hu, D. McKinnon, M. Warren, B. Upcroft, "Graphcut-based Interactive Segmentation using Colour and Depth Cues", in Australasian Conference on Robotics and Automation, Brisbane, Queensland, 2010. ERA Ranking: B

Workshop Papers

  1. M. Warren, P. Corke, O. Pizarro, S. Williams, B. Upcroft, "Bi-objective Bundle Adjustment: Towards Large-Scale Visual Sea-floor Mapping with a Minimal Sensor Suite", in Robotics: Science and Systems: Workshop on Robotics for Environmental Monitoring, Sydney, Australia, 2012
  2. M. Warren, D. McKinnon, T. Gifford, H. He, M. Shiel, D. Preller, B. Upcroft, "Vision only pose estimation and scene reconstruction on airborne platforms", Robotics: Science and Systems Workshop on RGB-D Sensors, Zaragoza, Spain, 2010.