Publications

2018



Domain Randomization and Generative Models for Robotic Grasping Josh Tobin, Lukas Biewald, Rocky Duan, Marcin Andrychowicz, Ankur Handa, Vikash Kumar, Bob McGrew, Alex Ray, Jonas Schneider, Peter Welinder, Wojciech Zaremba, Pieter Abbeel arXiv 2018





2017


SceneNet RGB-D: Can 5M Synthetic Images Beat Generic ImageNet Pre-training on Indoor Segmentation? John McCormac, Ankur Handa, Stefan Leutenegger, Andrew Davison, ICCV 2017








Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery. Menglong Ye, Ed Johns, Ankur Handa, Lin Zhang, Philip Pratt, Guang-Zhong Yang, HSMR 2017








SemanticFusion: Dense 3D semantic mapping with convolutional neural networks John McCormac, Ankur Handa, Andrew Davison, Stefan Leutenegger, ICRA 2017





2016

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



HDRFusion: HDR SLAM using a low-cost auto-exposure RGB-D sensor. Shuda Li, Ankur Handa, Yang Zhang, Andrew Calway, 3DV 2016





gvnn: Neural network library for geometric computer vision. Ankur Handa, Michael Bloesch, Viorica Pătrăucean, Simon Stent, John McCormac, Andrew Davison, ECCVWorkshop 2016




Spatio-temporal video autoencoder with differentiable memory. Viorica Pătrăucean, Ankur Handa, Roberto Cipolla, ICLRWorkshop 2016





Understanding real world indoor scenes with synthetic data. Ankur Handa, Viorica Pătrăucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla, CVPR 2016






2015


SegNet: A deep convolutional encoder-decoder architecture for robust semantic pixel-wise labelling. Vijay Badrinarayanan, Ankur Handa, Roberto Cipolla, arXiv 2015


2014



Robust real-time visual odometry for stereo endoscopy using dense quadrifocal tracking Ping-Lin Chang, Ankur Handa, Andrew Davison, Daniel Stoyanov, IPCAI 2014









Simultaneous Mosaicing and Tracking with an Event Camera. Hanme Kim, Ankur Handa, Ryad Benosman, Sio-Hoi Ieng, Andrew Davison, BMVC 2014 (Best Industry Paper Prize)




A Benchmark for RGB-D Visual Odometry, 3D Reconstruction and SLAM Ankur Handa, Thomas Whelan, John McDonald, Andrew Davison, ICRA 2014



2013 and earlier

Analysing high frame-rate camera tracking Ankur Handa, PhD Thesis 2013

Real-time camera tracking: When is high frame-rate best? Ankur Handa, Richard Newcombe, Adrien Angeli, Andrew Davison, ECCV 2012

Scalable Active Matching, Ankur Handa, Margarita Chli, Hauke Strasdat, Andrew Davison, CVPR 2010

Person following with a mobile robot using a modified optical flow, Ankur Handa, Jayanthi Sivaswamy, K Madhava Krishna, Sartaj Singh, Advances in Mobile Robotics 2008