FAB-MAP + RatSLAM: Appearance-based SLAM for multiple times of day. - Arren Glover; William P. Maddern; Michael Milford; Gordon F. Wyeth (ICRA, 2010)

Continuous appearance-based trajectory SLAM. - William P. Maddern; Michael Milford; Gordon F. Wyeth (ICRA, 2011)

OpenFABMAP: An open source toolbox for appearance-based loop closure detection. - Arren Glover; William P. Maddern; Michael Warren; Stephanie Reid; Michael Milford; Gordon F. Wyeth (ICRA, 2012)

Lost in translation (and rotation): Rapid extrinsic calibration for 2D and 3D LIDARs. - William P. Maddern; Alastair Harrison; Paul Newman 001 (ICRA, 2012)

Capping computation time and storage requirements for appearance-based localization with CAT-SLAM. - William P. Maddern; Michael Milford; Gordon F. Wyeth (ICRA, 2012)

Towards persistent indoor appearance-based localization, mapping and navigation using CAT-Graph. - William P. Maddern; Michael Milford; Gordon F. Wyeth (IROS, 2012)

Towards Persistent Localization and Mapping with a Continuous Appearance-based Topology. - William P. Maddern; Michael Milford; Gordon F. Wyeth (Robotics: Science and Systems, 2012)

CAT-SLAM: probabilistic localisation and mapping using a continuous appearance-based trajectory. - William P. Maddern; Michael Milford; Gordon F. Wyeth (Int. J. Robotics Res., 2012)

Shady dealings: Robust, long-term visual localisation using illumination invariance. - Colin McManus; Winston Churchill; William P. Maddern; Alexander D. Stewart; Paul Newman 001 (ICRA, 2014)

Lighting invariant urban street classification. - Ben Upcroft; Colin McManus; Winston Churchill; William P. Maddern; Paul Newman 001 (ICRA, 2014)

LAPS-II: 6-DoF day and night visual localisation with prior 3D structure for autonomous road vehicles. - William P. Maddern; Alexander D. Stewart; Paul Newman 001 (Intelligent Vehicles Symposium, 2014)

Robust Direct Visual Localisation using Normalised Information Distance. - Geoffrey Pascoe; William P. Maddern; Paul Newman 001 (BMVC, 2015)

Direct Visual Localisation and Calibration for Road Vehicles in Changing City Environments. - Geoffrey Pascoe; William P. Maddern; Paul Newman 001 (ICCV Workshops, 2015)

Leveraging experience for large-scale LIDAR localisation in changing cities. - William P. Maddern; Geoffrey Pascoe; Paul Newman 001 (ICRA, 2015)

FARLAP: Fast robust localisation using appearance priors. - Geoffrey Pascoe; William P. Maddern; Alexander D. Stewart; Paul Newman 001 (ICRA, 2015)

Exploiting 3D semantic scene priors for online traffic light interpretation. - Dan Barnes; William P. Maddern; Ingmar Posner (Intelligent Vehicles Symposium, 2015)

Real-time probabilistic fusion of sparse 3D LIDAR and dense stereo. - Will Maddern; Paul M. Newman (IROS, 2016)

NID-SLAM: Robust Monocular SLAM Using Normalised Information Distance. - Geoffrey Pascoe; Will Maddern; Michael Tanner; Pedro Pinies; Paul Newman 001 (CVPR, 2017)

Find your own way: Weakly-supervised segmentation of path proposals for urban autonomy. - Dan Barnes; Will Maddern; Ingmar Posner (ICRA, 2017)

Benchmarking 6DOF Urban Visual Localization in Changing Conditions. - Torsten Sattler; Will Maddern; Akihiko Torii; Josef Sivic; Tomás Pajdla; Marc Pollefeys; Masatoshi Okutomi (CoRR, 2017)

1 year, 1000 km: The Oxford RobotCar dataset. - Will Maddern; Geoffrey Pascoe; Chris Linegar; Paul Newman 001 (Int. J. Robotics Res., 2017)

Fast Light Field Disparity Estimation via a Parallel Filtered Cost Volume Approach. - Adam Stacey; Will Maddern; Surya Singh (ACCV (2), 2018)

Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions. - Torsten Sattler; Will Maddern; Carl Toft; Akihiko Torii; Lars Hammarstrand; Erik Stenborg; Daniel Safari; Masatoshi Okutomi; Marc Pollefeys; Josef Sivic; Fredrik Kahl; Tomás Pajdla (CVPR, 2018)

Driven to Distraction: Self-Supervised Distractor Learning for Robust Monocular Visual Odometry in Urban Environments. - Dan Barnes; Will Maddern; Geoffrey Pascoe; Ingmar Posner (ICRA, 2018)

Mark Yourself: Road Marking Segmentation via Weakly-Supervised Annotations from Multimodal Data. - Tom Bruls; Will Maddern; Akshay A. Morye; Paul Newman 001 (ICRA, 2018)

Adversarial Training for Adverse Conditions: Robust Metric Localisation Using Appearance Transfer. - Horia Porav; Will Maddern; Paul Newman 001 (ICRA, 2018)

Distant Vehicle Detection Using Radar and Vision. - Simon Chadwick; Will Maddern; Paul Newman 001 (ICRA, 2019)

Real-time Kinematic Ground Truth for the Oxford RobotCar Dataset. - Will Maddern; Geoffrey Pascoe; Matthew Gadd; Dan Barnes; Brian Yeomans; Paul Newman 001 (CoRR, 2020)

Long-Term Visual Localization Revisited. - Carl Toft; Will Maddern; Akihiko Torii; Lars Hammarstrand; Erik Stenborg; Daniel Safari; Masatoshi Okutomi; Marc Pollefeys; Josef Sivic; Tomás Pajdla; Fredrik Kahl; Torsten Sattler (IEEE Trans. Pattern Anal. Mach. Intell., 2022)

Exploring Real World Map Change Generalization of Prior-Informed HD Map Prediction Models. - Samuel M. Bateman; Ning Xu; H. Charles Zhao; Yael Ben Shalom; Vince Gong; Greg Long; Will Maddern (CVPR Workshops, 2024)

Evaluating Global Geo-alignment for Precision Learned Autonomous Vehicle Localization using Aerial Data. - Yi Yang; Xuran Zhao; H. Charles Zhao; Shumin Yuan; Samuel M. Bateman; Tiffany A. Huang; Chris Beall; Will Maddern (CoRR, 2025)