I am a final year Ph.D. student at Imperial College London, advised by Prof. Andrew Davison.
Previously, I completed my undergraduate and Masters in Physics at the University of Oxford.
My research interests lie in building efficient real-time scene understanding systems for robotics. Towards this goal, my research focuses on two directions: 1) graphical representations and Gaussian Belief Propagation as a distributed inference algorithm for fast computer vision, and 2) training neural scene representations via continual learning for real-time robotics.
accepted to RSS 2022!
I'll be interning at Facebook AI Research with Mustafa Mukadam
iMAP accepted to ICCV 2021!
Theseus: A Library for Differentiable Nonlinear Optimization
iSDF: Real-Time Neural Signed Distance Fields for Robot Perception
A Robot Web for Distributed Many-Device Localisation
Incremental Abstraction in Distributed Probabilistic SLAM Graphs
iMAP: Implicit Mapping and Positioning in Real-Time
A visual introduction to Gaussian Belief Propagation
Self published / arXiv 2021
Bundle Adjustment on a Graph Processor
FutureMapping 2: Gaussian Belief Propagation for Spatial AI