Hybrid elevation maps: 3D surface models for segmentation. - Bertrand Douillard; James Patrick Underwood; Narek Melkumyan; Surya P. N. Singh; Shrihari Vasudevan; Christopher Joseph Brunner; Alastair James Quadros (IROS, 2010)

Perception Quality Evaluation with Visual and Infrared Cameras in Challenging Environmental Conditions. - Christopher Joseph Brunner; Thierry Peynot (ISER, 2010)

Visual metrics for the evaluation of sensor data quality in outdoor perception. - Christopher Joseph Brunner; Thierry Peynot (PerMIS, 2010)

Combining multiple sensor modalities for a localisation robust to smoke. - Christopher Joseph Brunner; Thierry Peynot; Teresa A. Vidal-Calleja (IROS, 2011)

Selective Combination of Visual and Thermal Imaging for Resilient Localization in Adverse Conditions: Day and Night, Smoke and Fire. - Christopher Joseph Brunner; Thierry Peynot; Teresa A. Vidal-Calleja; James Patrick Underwood (J. Field Robotics, 2013)