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Dr James Underwood

B. Engineering - Mechatronic (Hons 1), PhD, Sydney, 2009
Senior Research Fellow
Australian Centre for Field Robotics

J04 - Rose Street Building
The University of Sydney

Telephone +61 2 9114 0895
Fax +61 2 9351 7474

Website Agri-Food systems

Centre for Intelligent Mobile Systems

Google Scholar

Biographical details

Dr. James Patrick Underwood is a senior research fellow at the Australian Centre for Field Robotics (ACFR) at The University of Sydney. James is an international expert in the area of perception systems for field robotics. He has led a number of robotics and intelligent systems R&D projects in defence, mining and agriculture, and has consulted to industry including Rio Tinto, Bae Systems, The South Korean Agency for Defence Development, Leica Geosystems, Dairy Australia, Horticulture Innovation Australia and the South Australian Research and Development Institute.

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Research interests

Dr James Underwood is an international expert in the study of how outdoor robots operating in complex, unstructured environments can make sense of their world using multimodal sensing, data fusion and mapping. Having previously applied his research to the mining, logistics and defence industries, his current focus is on commercial horticulture.

"I'm passionate about finding new ways to allow machines to see and understand their surroundings. I find it fascinating, because as humans we take our amazing ability to perceive and interpret the world around us for granted, and in a number of important ways we don't know how we do it.

"I'm particularly interested in applications in agriculture, because the combination of high-tech (robots) and biological (plants) systems presents great challenges. The cause is also worthy, because the world needs to grow more food, more sustainably, and this technology will have a big role in achieving that.

"I'm currently using robotics and sensing to provide new ways of monitoring the performance of a farm, down to the individual tree, leaf, flower or fruit. This allows farmers to make more informed decisions, such as how much water or fertiliser to apply, which in turn allows them to maximise the quantity and quality of their produce while minimising the use of natural resources and environmental impact.

"For example, in a very early test we programmed a robot called Shrimp to map all the apples in an orchard before harvest. We gave this map to the farmer, who used it to identify a problem that he'd been unaware of. The placement of his pollinator trees hadn't been sufficient to achieve maximum yield in every row of his orchard, but on seeing the map he was able to strategically plant additional trees to correct the problem.

"I studied at the University of Sydney and have been working here as a researcher ever since. The Australian Centre for Field Robotics is well resourced in terms of equipment, but more importantly in terms of people and know-how. The 'brains trust' here is a great resource for achieving high-quality research outcomes."

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Past, completed PhD students

  • Peter Morton. Thesis: "Multi-target tracking using appearance models for identity maintenance". Peter currently works for Google, USA on the self-driving car project
  • Alastair Quadros. Thesis: "Representing 3D Shape in Sparse Range Images for Urban Object Classification". Alastair works for Marathon Targets on autonomous robot targets for sniper training (an ACFR spinoff).
  • Mark De Deuge: Thesis "Manifold Learning Approaches to Compressing Latent Spaces of Unsupervised Feature Hierarchies" now works in machine learning algorithms at the Commonwealth Bank of Australia
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Current research students

Project title Research student
Robotic Perception for Precision Livestock Farming: Automatic lameness detection John GARDENIER
Ground Based Hyperspectral Imaging in Precision Agriculture Alexander WENDEL
3d Reconstruction and pruning of Avocado Trees Fred WESTLING
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Awards and honours

  • 2017: Swedish Symposium in Image Analysis (SSBA), Best Industry Relevant Contribution
  • 2013: Outstanding Program Committee Member, AJCA
  • 2012: Outstanding Program Committee Member, AJCAI
  • 2011: Best Paper, TAROS "Short-range Radar Perception in Outdoor Environments"
  • 2007: Best Paper, ACRA "Real Time Map Building with Uncertainty Using Colour Camera and Scanning Laser"
  • 2004: University Medal, The University of Sydney
  • 2004: Mechanical Engineering Minor Prize, The University of Sydney
  • 2001-2004: Dean's List of Academic Achievement, The University of Sydney
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In the media

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Selected grants

2016

  • Advanced perception in precision livestock robotics: Lameness; Underwood J, Clark C; Dairy Australia/Research and Development Grants.

2015

  • Child 3 - USyd - Multi-scale monitoring tools for managing Australian Tree Crops: Industry meets innovation; Sukkarieh S, Underwood J, Whelan B; Horticulture Innovation Australia Limited (HIA)/Research and Development General Call.

2010

  • Centre for Intelligent Mobile Systems (CIMS) Annex No. 8 under the Research Agreement with BAE Systems ACAD01610 - Analysis of motion estimation for ground vehicles using visual and inertial sensors BLOCS #13782; Underwood J; Centre for Intelligent Mobile Systems (CIMS)/Research Support.
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Selected publications

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Book Chapters

  • Hung, C., Underwood, J., Nieto, J., Sukkarieh, S. (2015). A feature learning based approach for automated fruit yield estimation. In Luis Mejias, Peter Corke, Jonathan Roberts (Eds.), Field and Service Robotics: Results of the 9th International Conference, (pp. 485-498). Cham: Springer. [More Information]
  • Bargoti, S., Underwood, J., Nieto, J., Sukkarieh, S. (2015). A pipeline for trunk localisation using LiDAR in trellis structured orchards. In Luis Mejias, Peter Corke, Jonathan Roberts (Eds.), Field and Service Robotics: Results of the 9th International Conference, (pp. 455-468). Cham: Springer. [More Information]
  • Jagbrant, G., Underwood, J., Nieto, J., Sukkarieh, S. (2015). LiDAR based tree and platform localisation in almond orchards. In Luis Mejias, Peter Corke, Jonathan Roberts (Eds.), Field and Service Robotics: Results of the 9th International Conference, (pp. 469-483). Cham: Springer. [More Information]
  • Douillard, B., Underwood, J., Vlaskine, V., Quadros, A., Singh, S. (2014). A pipeline for the segmentation and classification of 3D point clouds. In Oussama Khatib, Vijay Kumar, Gaurav Sukhatme (Eds.), Experimental Robotics (The 12th International Symposium on Experimental Robotics), (pp. 585-600). Heidelberg: Springer.
  • Reina, G., Milella, A., Underwood, J. (2014). A Self-Learning Ground Classifier Using Radar Features. In Kazuya Yoshida, Satoshi Tadokoro (Eds.), Field and Service Robotics: Results of the 8th International Conference, (pp. 629-642). Berlin: Springer. [More Information]

Journals

  • Stein, M., Bargoti, S., Underwood, J. (2016). Image Based Mango Fruit Detection, Localisation and Yield Estimation Using Multiple View Geometry. Sensors, 16(11), 1-25. [More Information]
  • Underwood, J., Hung, C., Whelan, B., Sukkarieh, S. (2016). Mapping almond orchard canopy volume, flowers, fruit and yield using lidar and vision sensors. Computers and Electronics in Agriculture, 130, 83-96. [More Information]
  • Bargoti, S., Underwood, J., Nieto, J., Sukkarieh, S. (2015). A pipeline for trunk detection in trellis structured apple orchards. Journal of Field Robotics, 32(8), 1075-1094. [More Information]
  • Milella, A., Reina, G., Underwood, J. (2015). A self-learning framework for statistical ground classification using radar and monocular vision. Journal of Field Robotics, 32(1), 20-41. [More Information]
  • Underwood, J., Jagbrant, G., Nieto, J., Sukkarieh, S. (2015). Lidar-based tree recognition and platform localization in orchards. Journal of Field Robotics, 32(8), 1056-1074. [More Information]
  • Reina, G., Johnson, D., Underwood, J. (2015). Radar sensing for intelligent vehicles in urban environments. Sensors, 15(6), 14661-14678. [More Information]
  • Brooker, G., Johnson, D., Underwood, J., Martinez, J., Lu, X. (2015). Using the polarization of millimeter-wave radar as a navigation aid. Journal of Field Robotics, 32(1), 3-19. [More Information]
  • Milella, A., Reina, G., Underwood, J., Douillard, B. (2014). Visual ground segmentation by radar supervision. Robotics and Autonomous Systems, 62(5), 696-706. [More Information]
  • Xu, Z., Fitch, R., Underwood, J., Sukkarieh, S. (2013). Decentralised Coordinated Tracking with Mixed Discrete-Continuous Decisions. Journal of Field Robotics, 30(5), 717-740. [More Information]
  • Brunner, C., Peynot, T., Vidal-Calleja, T., Underwood, J. (2013). Selective Combination of Visual and Thermal Imaging for Resilient Localization in Adverse Conditions: Day and Night, Smoke and Fire. Journal of Field Robotics, 30(4), 641-666. [More Information]
  • Reina, G., Milella, A., Underwood, J. (2012). Self-learning classification of radar features for scene understanding. Robotics and Autonomous Systems, 60(11), 1377-1388. [More Information]
  • Reina, G., Underwood, J., Brooker, G., Durrant-Whyte, H. (2011). Radar-Based Perception for Autonomous Outdoor Vehicles. Journal of Field Robotics, 28(6), 894-913. [More Information]
  • Underwood, J., Hill, A., Peynot, T., Scheding, S. (2010). Error modeling and calibration of exteroceptive sensors for accurate mapping applications. Journal of Field Robotics, 27(1), 2-20. [More Information]

Conferences

  • Hung, C., Underwood, J., Nieto, J., Sukkarieh, S. (2016). Autonomous intelligent system for fruit yield estimation. 29th International Horticultural Congress (IHC2014), Brisbane: International Society for Horticultural Science. [More Information]
  • Bargoti, S., Underwood, J. (2016). Image Classification with Orchard Metadata. 2016 IEEE International Conference on Robotics and Automation (ICRA), New Jersey: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Wendel, A., Underwood, J. (2016). Self-Supervised Weed Detection in Vegetable Crops Using Ground Based Hyperspectral Imaging. 2016 IEEE International Conference on Robotics and Automation (ICRA), New Jersey: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Underwood, J., Jagbrant, G., Nieto, J., Sukkarieh, S. (2016). Tree centric localisation in almond orchards. 29th International Horticultural Congress (IHC2014), Brisbane: International Society for Horticultural Science. [More Information]
  • Bargoti, S., Underwood, J., Nieto, J., Sukkarieh, S. (2016). Trunk localisation in trellis structured orchards. 29th International Horticultural Congress (IHC2014), Brisbane: International Society for Horticultural Science. [More Information]
  • Hung, C., Underwood, J., Nieto, J., Sukkarieh, S. (2013). A Feature Learning Based Approach for Automated Fruit Yield Estimation. 9th Conference on Field and Service Robotics (FSR), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Bargoti, S., Underwood, J., Nieto, J., Sukkarieh, S. (2013). A Pipeline for Trunk Localisation Using LiDAR in Trellis Structured Orchards. 9th Conference on Field and Service Robotics (FSR), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Clark, C., Garcia, S., Kerrisk (nee Davis), K., Underwood, J., Nieto, J., Calleija, M., Sukkarieh, S., Cronin, G. (2013). A robot amongst the herd: A pilot investigation regarding the behavioural response of dairy cows. 4th Australian and New Zealand Spatially Enabled Livestock Management Symposium, Camden, New South Wales, Australia.
  • Underwood, J., Calleija, M., Nieto, J., Sukkarieh, S., Clark, C., Garcia, S., Kerrisk (nee Davis), K., Cronin, G. (2013). A robot amongst the herd: remote detection and tracking of cows. 4th Australian and New Zealand Spatially Enabled Livestock Management Symposium, Camden, New South Wales, Australia.
  • Underwood, J., Gillsjo, D., Bailey, T., Vlaskine, V. (2013). Explicit 3D Change Detection using Ray-Tracing in Spherical Coordinates. 2013 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Jagbrant, G., Underwood, J., Nieto, J., Sukkarieh, S. (2013). LiDAR Based Localisation in Almond Orchards. 9th Conference on Field and Service Robotics (FSR), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Hung, C., Nieto, J., Taylor, Z., Underwood, J., Sukkarieh, S. (2013). Orchard fruit segmentation using multi-spectral feature learning. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan: IEEE. [More Information]
  • Brunner, C., Peynot, T., Underwood, J. (2013). Using image quality metrics to detect smoke-affected laser data. Australasian Conference on Robotics and Automation 2013, Sydney: Australian Robotics and Automation Association (ARAA).
  • Douillard, B., Quadros, A., Morton, P., Underwood, J., De Deuge, M. (2012). A 3D Classifier Trained Without Field Samples. 12th International Conference on Control, Automation, Robotics and Vision ICARCV 2012, Guangzhou: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Quadros, A., Underwood, J., Douillard, B. (2012). An Occlusion-aware Feature for Range Images. 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Reina, G., Milella, A., Underwood, J. (2012). Radar-Vision Integration for Self-Supervised Scene Segmentation. Robotics: Science and Systems VIII, Sydney, NSW, Australia: Robotics Science and Systems.
  • Douillard, B., Quadros, A., Morton, P., Underwood, J., De Deuge, M., Hugosson, S., Hallström, M., Bailey, T. (2012). Scan Segments Matching for Pairwise 3D Alignment. 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Morton, P., Douillard, B., Underwood, J. (2011). An evaluation of dynamic object tracking with 3D LIDAR. Australasian Conference on Robotics and Automation (ACRA 2011), Melbourne, Australia: Australian Robotics and Automation Association (ARAA).
  • Douillard, B., Quadros, A., Morton, P., Underwood, J., De Deuge, M. (2011). Can a 3D classifier be trained without field samples? IROS Workshop - Active Semantic Perception and Object Search in the Real World (ASP-AVS-11).
  • Milella, A., Reina, G., Underwood, J., Douillard, B. (2011). Combining Radar and Vision for Self-Supervised Ground Segmentation in Outdoor Environments. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Douillard, B., Underwood, J., Kuntz, N., Vlaskine, V., Quadros, A., Morton, P., Frenkel, A. (2011). On the Segmentation of 3D LIDAR Point Clouds. IEEE International Conference on Robotics and Automation ICRA 2011, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Reina, G., Underwood, J., Brooker, G. (2011). Short-Range Radar Perception in Outdoor Environments. 12th Conference Towards Autonomous Robotic Systems, Germany: Springer. [More Information]
  • Douillard, B., Underwood, J., Vlaskine, V., Quadros, A., Singh, S. (2010). A Pipeline for the Segmentation and Classifcation of 3D Point Clouds. 12th International Symposium on Experimental Robotics 2010.
  • Douillard, B., Underwood, J., Melkumyan, N., Singh, S., Vasudevan, S., Brunner, C., Quadros, A. (2010). Hybrid elevation maps: 3D surface models for segmentation. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Peynot, T., Underwood, J., Kassir, A. (2010). Sensor Data Consistency Monitoring for the Prevention of Perceptual Failures in Outdoor Robotics. Seventh IARP Workshop on Technical Challenges for Dependable Robots in Human Environments.
  • Allen, T., Hill, A., Underwood, J., Scheding, S. (2009). Dynamic Path Planning with Multi-Agent Data Fusion - The Parallel Hierarchical Replanner. 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Brunner, C., Peynot, T., Underwood, J. (2009). Towards Discrimination of Challenging Conditions for UGVs with Visual and Infrared Sensors. 2009 Australasian Conference on Robotics and Automation, Sydney: Australian Robotics and Automation Association (ARAA).
  • Peynot, T., Underwood, J., Scheding, S. (2009). Towards Reliable Perception for Unmanned Ground Vehicles in Challenging Conditions. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Allen, T., Underwood, J., Scheding, S. (2007). A Planning System for Autonomous Ground Vehicles Operating in Unstructured Dynamic Environments. Australasian Conference on Robotics and Automation (ACRA), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Underwood, J., Hill, A., Scheding, S. (2007). Calibration of Range Sensor Pose on Mobile Platforms. IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems (IROS 2007), USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Underwood, J., Scheding, S., Ramos, F. (2007). Real-Time Map Building with Uncertainty using Colour Camera and Scanning Laser. Australasian Conference on Robotics and Automation (ACRA), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Alempijevic, A., Kodagoda, S., Underwood, J., Sureshkumar, S., Dissanayake, G. (2006). Mutual Information based Sensor Registration and Calibration. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Kodagoda, S., Alempijevic, A., Underwood, J., Sureshkumar, S., Dissanayake, G. (2006). Sensor Registration and Calibration using Moving Targets. ICARCV 2006 Ninth International Conference on Control, Automation, Robotics and Vision, Singapore: (IEEE) Institute of Electrical and Electronics Engineers.

2016

  • Hung, C., Underwood, J., Nieto, J., Sukkarieh, S. (2016). Autonomous intelligent system for fruit yield estimation. 29th International Horticultural Congress (IHC2014), Brisbane: International Society for Horticultural Science. [More Information]
  • Stein, M., Bargoti, S., Underwood, J. (2016). Image Based Mango Fruit Detection, Localisation and Yield Estimation Using Multiple View Geometry. Sensors, 16(11), 1-25. [More Information]
  • Bargoti, S., Underwood, J. (2016). Image Classification with Orchard Metadata. 2016 IEEE International Conference on Robotics and Automation (ICRA), New Jersey: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Underwood, J., Hung, C., Whelan, B., Sukkarieh, S. (2016). Mapping almond orchard canopy volume, flowers, fruit and yield using lidar and vision sensors. Computers and Electronics in Agriculture, 130, 83-96. [More Information]
  • Wendel, A., Underwood, J. (2016). Self-Supervised Weed Detection in Vegetable Crops Using Ground Based Hyperspectral Imaging. 2016 IEEE International Conference on Robotics and Automation (ICRA), New Jersey: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Underwood, J., Jagbrant, G., Nieto, J., Sukkarieh, S. (2016). Tree centric localisation in almond orchards. 29th International Horticultural Congress (IHC2014), Brisbane: International Society for Horticultural Science. [More Information]
  • Bargoti, S., Underwood, J., Nieto, J., Sukkarieh, S. (2016). Trunk localisation in trellis structured orchards. 29th International Horticultural Congress (IHC2014), Brisbane: International Society for Horticultural Science. [More Information]

2015

  • Hung, C., Underwood, J., Nieto, J., Sukkarieh, S. (2015). A feature learning based approach for automated fruit yield estimation. In Luis Mejias, Peter Corke, Jonathan Roberts (Eds.), Field and Service Robotics: Results of the 9th International Conference, (pp. 485-498). Cham: Springer. [More Information]
  • Bargoti, S., Underwood, J., Nieto, J., Sukkarieh, S. (2015). A pipeline for trunk detection in trellis structured apple orchards. Journal of Field Robotics, 32(8), 1075-1094. [More Information]
  • Bargoti, S., Underwood, J., Nieto, J., Sukkarieh, S. (2015). A pipeline for trunk localisation using LiDAR in trellis structured orchards. In Luis Mejias, Peter Corke, Jonathan Roberts (Eds.), Field and Service Robotics: Results of the 9th International Conference, (pp. 455-468). Cham: Springer. [More Information]
  • Milella, A., Reina, G., Underwood, J. (2015). A self-learning framework for statistical ground classification using radar and monocular vision. Journal of Field Robotics, 32(1), 20-41. [More Information]
  • Jagbrant, G., Underwood, J., Nieto, J., Sukkarieh, S. (2015). LiDAR based tree and platform localisation in almond orchards. In Luis Mejias, Peter Corke, Jonathan Roberts (Eds.), Field and Service Robotics: Results of the 9th International Conference, (pp. 469-483). Cham: Springer. [More Information]
  • Underwood, J., Jagbrant, G., Nieto, J., Sukkarieh, S. (2015). Lidar-based tree recognition and platform localization in orchards. Journal of Field Robotics, 32(8), 1056-1074. [More Information]
  • Reina, G., Johnson, D., Underwood, J. (2015). Radar sensing for intelligent vehicles in urban environments. Sensors, 15(6), 14661-14678. [More Information]
  • Brooker, G., Johnson, D., Underwood, J., Martinez, J., Lu, X. (2015). Using the polarization of millimeter-wave radar as a navigation aid. Journal of Field Robotics, 32(1), 3-19. [More Information]

2014

  • Douillard, B., Underwood, J., Vlaskine, V., Quadros, A., Singh, S. (2014). A pipeline for the segmentation and classification of 3D point clouds. In Oussama Khatib, Vijay Kumar, Gaurav Sukhatme (Eds.), Experimental Robotics (The 12th International Symposium on Experimental Robotics), (pp. 585-600). Heidelberg: Springer.
  • Reina, G., Milella, A., Underwood, J. (2014). A Self-Learning Ground Classifier Using Radar Features. In Kazuya Yoshida, Satoshi Tadokoro (Eds.), Field and Service Robotics: Results of the 8th International Conference, (pp. 629-642). Berlin: Springer. [More Information]
  • Milella, A., Reina, G., Underwood, J., Douillard, B. (2014). Visual ground segmentation by radar supervision. Robotics and Autonomous Systems, 62(5), 696-706. [More Information]

2013

  • Hung, C., Underwood, J., Nieto, J., Sukkarieh, S. (2013). A Feature Learning Based Approach for Automated Fruit Yield Estimation. 9th Conference on Field and Service Robotics (FSR), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Bargoti, S., Underwood, J., Nieto, J., Sukkarieh, S. (2013). A Pipeline for Trunk Localisation Using LiDAR in Trellis Structured Orchards. 9th Conference on Field and Service Robotics (FSR), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Clark, C., Garcia, S., Kerrisk (nee Davis), K., Underwood, J., Nieto, J., Calleija, M., Sukkarieh, S., Cronin, G. (2013). A robot amongst the herd: A pilot investigation regarding the behavioural response of dairy cows. 4th Australian and New Zealand Spatially Enabled Livestock Management Symposium, Camden, New South Wales, Australia.
  • Underwood, J., Calleija, M., Nieto, J., Sukkarieh, S., Clark, C., Garcia, S., Kerrisk (nee Davis), K., Cronin, G. (2013). A robot amongst the herd: remote detection and tracking of cows. 4th Australian and New Zealand Spatially Enabled Livestock Management Symposium, Camden, New South Wales, Australia.
  • Xu, Z., Fitch, R., Underwood, J., Sukkarieh, S. (2013). Decentralised Coordinated Tracking with Mixed Discrete-Continuous Decisions. Journal of Field Robotics, 30(5), 717-740. [More Information]
  • Underwood, J., Gillsjo, D., Bailey, T., Vlaskine, V. (2013). Explicit 3D Change Detection using Ray-Tracing in Spherical Coordinates. 2013 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Jagbrant, G., Underwood, J., Nieto, J., Sukkarieh, S. (2013). LiDAR Based Localisation in Almond Orchards. 9th Conference on Field and Service Robotics (FSR), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Hung, C., Nieto, J., Taylor, Z., Underwood, J., Sukkarieh, S. (2013). Orchard fruit segmentation using multi-spectral feature learning. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan: IEEE. [More Information]
  • Brunner, C., Peynot, T., Vidal-Calleja, T., Underwood, J. (2013). Selective Combination of Visual and Thermal Imaging for Resilient Localization in Adverse Conditions: Day and Night, Smoke and Fire. Journal of Field Robotics, 30(4), 641-666. [More Information]
  • Brunner, C., Peynot, T., Underwood, J. (2013). Using image quality metrics to detect smoke-affected laser data. Australasian Conference on Robotics and Automation 2013, Sydney: Australian Robotics and Automation Association (ARAA).

2012

  • Douillard, B., Quadros, A., Morton, P., Underwood, J., De Deuge, M. (2012). A 3D Classifier Trained Without Field Samples. 12th International Conference on Control, Automation, Robotics and Vision ICARCV 2012, Guangzhou: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Quadros, A., Underwood, J., Douillard, B. (2012). An Occlusion-aware Feature for Range Images. 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Reina, G., Milella, A., Underwood, J. (2012). Radar-Vision Integration for Self-Supervised Scene Segmentation. Robotics: Science and Systems VIII, Sydney, NSW, Australia: Robotics Science and Systems.
  • Douillard, B., Quadros, A., Morton, P., Underwood, J., De Deuge, M., Hugosson, S., Hallström, M., Bailey, T. (2012). Scan Segments Matching for Pairwise 3D Alignment. 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Reina, G., Milella, A., Underwood, J. (2012). Self-learning classification of radar features for scene understanding. Robotics and Autonomous Systems, 60(11), 1377-1388. [More Information]

2011

  • Morton, P., Douillard, B., Underwood, J. (2011). An evaluation of dynamic object tracking with 3D LIDAR. Australasian Conference on Robotics and Automation (ACRA 2011), Melbourne, Australia: Australian Robotics and Automation Association (ARAA).
  • Douillard, B., Quadros, A., Morton, P., Underwood, J., De Deuge, M. (2011). Can a 3D classifier be trained without field samples? IROS Workshop - Active Semantic Perception and Object Search in the Real World (ASP-AVS-11).
  • Milella, A., Reina, G., Underwood, J., Douillard, B. (2011). Combining Radar and Vision for Self-Supervised Ground Segmentation in Outdoor Environments. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Douillard, B., Underwood, J., Kuntz, N., Vlaskine, V., Quadros, A., Morton, P., Frenkel, A. (2011). On the Segmentation of 3D LIDAR Point Clouds. IEEE International Conference on Robotics and Automation ICRA 2011, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Reina, G., Underwood, J., Brooker, G., Durrant-Whyte, H. (2011). Radar-Based Perception for Autonomous Outdoor Vehicles. Journal of Field Robotics, 28(6), 894-913. [More Information]
  • Reina, G., Underwood, J., Brooker, G. (2011). Short-Range Radar Perception in Outdoor Environments. 12th Conference Towards Autonomous Robotic Systems, Germany: Springer. [More Information]

2010

  • Douillard, B., Underwood, J., Vlaskine, V., Quadros, A., Singh, S. (2010). A Pipeline for the Segmentation and Classifcation of 3D Point Clouds. 12th International Symposium on Experimental Robotics 2010.
  • Underwood, J., Hill, A., Peynot, T., Scheding, S. (2010). Error modeling and calibration of exteroceptive sensors for accurate mapping applications. Journal of Field Robotics, 27(1), 2-20. [More Information]
  • Douillard, B., Underwood, J., Melkumyan, N., Singh, S., Vasudevan, S., Brunner, C., Quadros, A. (2010). Hybrid elevation maps: 3D surface models for segmentation. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Peynot, T., Underwood, J., Kassir, A. (2010). Sensor Data Consistency Monitoring for the Prevention of Perceptual Failures in Outdoor Robotics. Seventh IARP Workshop on Technical Challenges for Dependable Robots in Human Environments.

2009

  • Allen, T., Hill, A., Underwood, J., Scheding, S. (2009). Dynamic Path Planning with Multi-Agent Data Fusion - The Parallel Hierarchical Replanner. 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Brunner, C., Peynot, T., Underwood, J. (2009). Towards Discrimination of Challenging Conditions for UGVs with Visual and Infrared Sensors. 2009 Australasian Conference on Robotics and Automation, Sydney: Australian Robotics and Automation Association (ARAA).
  • Peynot, T., Underwood, J., Scheding, S. (2009). Towards Reliable Perception for Unmanned Ground Vehicles in Challenging Conditions. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]

2007

  • Allen, T., Underwood, J., Scheding, S. (2007). A Planning System for Autonomous Ground Vehicles Operating in Unstructured Dynamic Environments. Australasian Conference on Robotics and Automation (ACRA), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Underwood, J., Hill, A., Scheding, S. (2007). Calibration of Range Sensor Pose on Mobile Platforms. IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems (IROS 2007), USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Underwood, J., Scheding, S., Ramos, F. (2007). Real-Time Map Building with Uncertainty using Colour Camera and Scanning Laser. Australasian Conference on Robotics and Automation (ACRA), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).

2006

  • Alempijevic, A., Kodagoda, S., Underwood, J., Sureshkumar, S., Dissanayake, G. (2006). Mutual Information based Sensor Registration and Calibration. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Kodagoda, S., Alempijevic, A., Underwood, J., Sureshkumar, S., Dissanayake, G. (2006). Sensor Registration and Calibration using Moving Targets. ICARCV 2006 Ninth International Conference on Control, Automation, Robotics and Vision, Singapore: (IEEE) Institute of Electrical and Electronics Engineers.
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