Benjamin Ramtoula

I am currently a DPhil (PhD) student at the Mobile Robotics Group of the University of Oxford supervised by Paul Newman and Ben Upcroft. I also work part-time at Oxa. My DPhil is being pursued as part of the CDT in Autonomous Intelligent Machines and Systems.

Before moving to Oxford, I studied at EPFL, ČVUT, and the MISTLab of Polytechnique Montréal. I also spent some time at MSL in Stanford, and in Team CoSTAR at NASA JPL, working on the DARPA SubT Challenge.

I am originally from Nantes, France.

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I am currently working on measuring domain gaps between datasets of images. I want to develop new general measurement methods and study their applications to problems in computer vision (e.g., having better metrics for generative models) and robotics (e.g., selecting maps to localise in). Previously, I also worked on multi-robot systems, SLAM, and object pose estimation.

We experiment with selecting the best maps for localisation by applying domain gap measurement techniques between deployment and mapping images.

We propose a way to represent images so that datasets can be compared with customised distances.

A survey of the state of collaborative SLAM.

Presentation of our team's solution for the DARPA SubT Challenge.

Practical study of communication in a multi-robot system.

An approach for estimating the 6DoF pose of objects from monocular images using hardware onboard a drone.

A fully distributed collaborative SLAM system with an outlier rejection mechanism.

An approach to do place recognition between multiple robots with minimal communication using a semantic representation of object layouts in scenes.

Description of our experiments as part of ESA's PANGAEA-X campaign, studying the cognitive load of astronauts to control fleets of robots in a Mars analog field experiment.

Website adapted from Jon Barron's, thanks to him for sharing!