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.

iser23_fig What you see is what you get: Experience ranking with deep neural dataset-to-dataset similarity for topological localisation
Matthew Gadd, Benjamin Ramtoula, Daniele De Martini Paul Newman,
ISER, 2023

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

vdna_svg Visual DNA: Representing and Comparing Images using Distributions of Neuron Activations
Benjamin Ramtoula, Matthew Gadd, Paul Newman, Daniele De Martini
CVPR, 2023
project page / paper / code / bibtex

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

cslam_svg Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape
Pierre-Yves Lajoie, Benjamin Ramtoula, Fang Wu, Giovanni Beltrame
Field Robotics, 2022

A survey of the state of collaborative SLAM.

costar_svg NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick
Field Robotics, 2022

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

drones_png On the Communication Requirements of Decentralized Connectivity Control: A Field Experiment
Jacopo Panerati, Benjamin Ramtoula, David St-Onge, Yanjun Cao, Marcel Kaufmann, Aidan Cowley, Lorenzo Sabattini, Giovanni Beltrame
DARS, 2022

Practical study of communication in a multi-robot system.

msl_raptor_svg MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception
Benjamin Ramtoula*, Adam Caccavale*, Giovanni Beltrame, Mac Schwager
ISER, 2020

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

cslam_svg DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang, Luca Carlone Giovanni Beltrame
RA-L, 2020

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

capricorn_svg CAPRICORN: Communication Aware Place Recognition using Interpretable Constellations of Objects in Robot Networks
Benjamin Ramtoula*, Ricardo de Azambuja*, Giovanni Beltrame,
ICRA, 2020

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

pangaea_png Planetary Exploration with Robot Teams: Implementing Higher Autonomy With Swarm Intelligence
David St-Onge, Marcel Kaufmann, Jacopo Panerati, Benjamin Ramtoula, Yanjun Cao, Emily BJ Coffey, Giovanni Beltrame,
IEEE Robotics & Automation Magazine, 2019

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!