Dense, Auto-Calibrating Visual Odometry from a Downward-Looking Camera. - Jacek Zienkiewicz; Robert Lukierski; Andrew J. Davison (BMVC, 2013)

Rapid free-space mapping from a single omnidirectional camera. - Robert Lukierski; Stefan Leutenegger; Andrew J. Davison (ECMR, 2015)

Rapid room understanding from wide-angle vision. - Robert Lukierski (2016)

Room layout estimation from rapid omnidirectional exploration. - Robert Lukierski; Stefan Leutenegger; Andrew J. Davison (ICRA, 2017)