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                  <h1>Positioning in GPS-denied Environments</h1>
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         </div><P>
         Whereas GPS is a de facto positioning solution for outdoor environments, it does not work well indoors or underground. We
         adopt two distinct approaches to solving the localisation problem in GPS-denied environments: infrastructure-based and infrastructure-free
         solutions. Our algorithms range from traditional geometry-based algorithms to deep learning approaches, and are applied to
         localising people, animals, robots and assets. We are particularly interested in positioning systems that combine multiple
         sensor modalities, including visual, inertial, radio and magnetic data.
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            <h3>Faculty</h3>
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            <div itemscope="itemscope" itemtype="http://schema.org/Person"
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               <a class="piccy" href="/people/Andrew.Markham/"
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                  <a href="/people/Andrew.Markham/">
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                        <span itemprop="name">Andrew Markham</span>
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               <a class="piccy" href="/people/Niki.Trigoni/"
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                        <span itemprop="name">Niki Trigoni</span>
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            <h3>Past Members</h3>
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                  <span class="newcaption">
                     <span itemprop="name">Ada Alevizaki</span>
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                     <span itemprop="name">Stefano Rosa</span>
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                     <span itemprop="name">Muhamad Risqi U. Saputra</span>
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                     <span itemprop="name">Johan Wahlstrom</span>
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                     <span itemprop="name">Wei Wang</span>
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         <h2>Selected Publications</h2>
         <p>
            <a href="/activities/publications/date/indoor_positioning.html"
               class="btn btn-dark-brown-outline btn-thin text-uppercase">View All</a>
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         <ul class="list-unbulleted list-unbulleted-spaced"><li> <p class="publicationTitle"> <strong>
            DeepTIO: A Deep Thermal&#x2212;Inertial Odometry with Visual Hallucination </strong> </p>
            	    <p class="publicationAuthors"> <em> M.R.U. Saputra P.P.B. de Gusmao C.X. Lu Y. Almalioglu S. Rosa C. Chen J. Wahlstrom
            W. Wang A. Markham and N. Trigoni  </em> </p>
            	
            	
            	<p class="publicationDetails"> 
            In <em>IEEE Robotics and Automation Letters (RAL) + IEEE ICRA</em>.
            2020.
            </p>
            	
            <p class="publicationlinks"> <a
            
            href="/publications/publication13786-abstract.html"> Details   <span class="sr-only" > about <em> DeepTIO: A Deep Thermal&#x2212;Inertial
            Odometry with Visual Hallucination  </em></span> </a> | <a
            
            href="/publications/publication13786.bib"> BibTeX  <span class="sr-only" > data for <em> DeepTIO: A Deep Thermal&#x2212;Inertial
            Odometry with Visual Hallucination  </em></span>   </a> 
            	    
            	     |
            <a 
            href="http://www.cs.ox.ac.uk/files/11551/RAL2020_DeepTIO.pdf">Download
            		     (pdf)
            		    
            		    <span class="sr-only" > of <em> DeepTIO: A Deep Thermal&#x2212;Inertial Odometry with Visual Hallucination  </em></span>
            		    
            		    </a>
            		
            		
            	    </li><li> <p class="publicationTitle"> <strong>
            Learning Monocular Visual Odometry through Geometry&#x2212;Aware Curriculum Learning </strong> </p>
            	    <p class="publicationAuthors"> <em> Muhamad Risqi U. Saputra Pedro P. B. de Gusmao Sen Wang Andrew Markham and Niki Trigoni
            </em> </p>
            	
            	
            	<p class="publicationDetails"> 
            In <em>IEEE International Conference on Robotics and Automation (ICRA)</em>.
            2019.
            </p>
            	
            <p class="publicationlinks"> <a
            
            href="/publications/publication12492-abstract.html"> Details   <span class="sr-only" > about <em> Learning Monocular Visual
            Odometry through Geometry&#x2212;Aware Curriculum Learning  </em></span> </a> | <a
            
            href="/publications/publication12492.bib"> BibTeX  <span class="sr-only" > data for <em> Learning Monocular Visual Odometry
            through Geometry&#x2212;Aware Curriculum Learning  </em></span>   </a> 
            	    
            	     |
            <a 
            href="http://www.cs.ox.ac.uk/files/10835/_ICRA__Learning_Monocular_Visual_Odometry_through_Geometry_Aware_Curriculum_Learning.pdf">Download
            		     (pdf)
            		    
            		    <span class="sr-only" > of <em> Learning Monocular Visual Odometry through Geometry&#x2212;Aware Curriculum Learning
            </em></span>
            		    
            		    </a>
            		
            		
            	    </li><li> <p class="publicationTitle"> <strong>
            Visual SLAM and Structure from Motion in Dynamic Environments: A Survey </strong> </p>
            	    <p class="publicationAuthors"> <em> M. R. U. Saputra; A. Markham; and N. Trigoni  </em> </p>
            	
            	
            	<p class="publicationDetails"> 
            In <em>ACM Computing Surveys (CSUR) 51 (2)&#x201a; 37</em>.
            2018.
            </p>
            	
            <p class="publicationlinks"> <a
            
            href="/publications/publication11891-abstract.html"> Details   <span class="sr-only" > about <em> Visual SLAM and Structure
            from Motion in Dynamic Environments: A Survey  </em></span> </a> | <a
            
            href="/publications/publication11891.bib"> BibTeX  <span class="sr-only" > data for <em> Visual SLAM and Structure from Motion
            in Dynamic Environments: A Survey  </em></span>   </a> 
            	    
            	     |
            <a 
            href="http://www.cs.ox.ac.uk/files/9926/Visual%20Slam.pdf">Download
            		     (pdf)
            		    
            		    <span class="sr-only" > of <em> Visual SLAM and Structure from Motion in Dynamic Environments: A Survey  </em></span>
            		    
            		    </a>
            		
            		
            	    </li>
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                     <h2 class="panel-title panel-title-small text-uppercase">See also</h2>
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                     <h2 class="panel-title panel-title-small text-uppercase">Completed Projects</h2>
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                           <a href="/projects/TrackSafe/">TrackSafe</a>
                        </li>
                        <li style="margin-bottom:0.33em">
                           <a href="/projects/ConstructionSiteTracking/">ConstructionSiteTracking</a>
                        </li>
                        <li style="margin-bottom:0.33em">
                           <a href="/projects/IndoorPos/">IndoorPos</a>
                        </li>
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                           <a href="/projects/HARPS/">HARPS</a>
                        </li>
                        <li style="margin-bottom:0.33em">
                           <a href="/projects/UnderTracker/">UnderTracker</a>
                        </li>
                        <li style="margin-bottom:0.33em">
                           <a href="/projects/Fresnel/">FRESNEL</a>
                        </li>
                        <li style="margin-bottom:0.33em">
                           <a href="/projects/AASN4IP/">Acoustic Actuated Sensor Networks for Industrial Processes (AASN4IP)</a>
                        </li>
                        <li style="margin-bottom:0.33em">
                           <a href="/projects/WILDSENSING/">Mobile and Sensor Nodes for Wildlife Monitoring</a>
                        </li>
                        <li style="margin-bottom:0.33em">
                           <a href="/projects/AgentExploration/">Agent-based Area Exploration and Event Detection in Emergency Scenarios</a>
                        </li>
                     </ul>
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