Dr James Underwood

B. Engineering in Mechatronic Engineering (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 Australian Centre for Field Robotics

Personal page

Selected grants

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.

Selected publications

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Book Chapters

  • 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.

Journals

  • Milella, A., Reina, G., Underwood, J. (2014). A self-learning framework for statistical ground classification using radar and monocular vision. Journal of Field Robotics.
  • Brooker, G., Johnson, D., Underwood, J., Martinez, J., Lu, X. (2014). Using the polarization of millimeter-wave radar as a navigation aid. Journal of Field Robotics.
  • 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. (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).
  • 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).
  • Morton, P., Douillard, B., Underwood, J. (2013). Multi-sensor identity tracking with Event Graphs. 2013 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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, Online: (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.
  • 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.

2014

  • Milella, A., Reina, G., Underwood, J. (2014). A self-learning framework for statistical ground classification using radar and monocular vision. Journal of Field Robotics.
  • 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.
  • Brooker, G., Johnson, D., Underwood, J., Martinez, J., Lu, X. (2014). Using the polarization of millimeter-wave radar as a navigation aid. Journal of Field Robotics.
  • 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).
  • 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).
  • Morton, P., Douillard, B., Underwood, J. (2013). Multi-sensor identity tracking with Event Graphs. 2013 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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, Online: (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.

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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