Posts by Collection

TeTRA-VPR: A Ternary Transformer Approach for Compact Visual Place Recognition

A compact and efficient approach for Visual Place Recognition using extreme low-bit quantization and progressive distillation.

VSLAM: Visual Simultaneous Localization and Mapping

VSLAMs a streamlined Python implementation of Stereo Visual SLAM. It leverages libraries such as numpy, opencv, and scipy for feature detection, tracking, matching, motion estimation, and optimization—all designed with the KITTI dataset in mind.

Design Space Exploration of Low-Bit Quantized Neural Networks for Visual Place Recognition

Published in IEEE Robotics and Automation Letters, 2024

This paper examines the impact of compact architectural designs and quantization techniques on visual place recognition, balancing recall performance with memory and latency constraints for edge deployment.

Recommended citation: Grainge, O., Milford, M., Bodala, I., Ramchurn, S. D., & Ehsan, S. (2024). "Design Space Exploration of Low-Bit Quantized Neural Networks for Visual Place Recognition." IEEE Robotics and Automation Letters. 9(6), 5070-5077. doi:10.1109/LRA.2024.3386459
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Structured Pruning for Efficient Visual Place Recognition

Published in IEEE Robotics and Automation Letters, 2024

This paper introduces a structured pruning method for VPR that strategically removes redundancies in the embedding space, significantly reducing memory usage and latency with minimal impact on accuracy.

Recommended citation: Grainge, O., Milford, M., Bodala, I., Ramchurn, S. D., & Ehsan, S. (2025). "Structured Pruning for Efficient Visual Place Recognition." IEEE Robotics and Automation Letters, 10(2), 2024-2031. doi:10.1109/LRA.2024.3523222
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TeTRA-VPR: A Ternary Transformer Approach for Compact Visual Place Recognition

Published in arXiv preprint, 2025

This paper introduces TeTRA, a ternary transformer approach that progressively quantizes Vision Transformers to achieve significant reductions in memory consumption and inference latency, while preserving or even enhancing visual place recognition performance on resource-constrained platforms.

Recommended citation: Grainge, O., Milford, M., Bodala, I., Ramchurn, S. D., & Ehsan, S. (2025). "TeTRA-VPR: A Ternary Transformer Approach for Compact Visual Place Recognition." arXiv preprint, arXiv:2503.02511. doi:10.48550/arXiv.2503.02511
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Talk 1 on Relevant Topic in Your Field

Published: March 01, 2012

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Tutorial 1 on Relevant Topic in Your Field

Published: March 01, 2013

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Talk 2 on Relevant Topic in Your Field

Published: February 01, 2014

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Conference Proceeding talk 3 on Relevant Topic in Your Field

Published: March 01, 2014

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Teaching experience 1

Undergraduate course, University 1, Department, 2014

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Teaching experience 2

Workshop, University 1, Department, 2015

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