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Showing 9 publications by Benjamin Ramtoula

3D foundation model-based loop closing for decentralized Collaborative SLAM

Lajoie P-Y, Ramtoula B, De Martini D & Beltrame G (2025), IEEE Robotics and Automation Letters, 10(11), 11188-11195

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@article{dfoundationmode-2025/9,
  title={3D foundation model-based loop closing for decentralized Collaborative SLAM},
  author={Lajoie P-Y, Ramtoula B, De Martini D & Beltrame G},
  journal={IEEE Robotics and Automation Letters},
  volume={10},
  pages={11188-11195},
  publisher={IEEE},
  year = "2025"
}

VDNA-PR: using general dataset representations for robust sequential visual place recognition

Ramtoula B, De Martini D, Gadd M & Newman P (2024), 2024 IEEE International Conference on Robotics and Automation (ICRA), 15883-15889

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@inproceedings{vdnaprusinggene-2024/8,
  title={VDNA-PR: using general dataset representations for robust sequential visual place recognition},
  author={Ramtoula B, De Martini D, Gadd M & Newman P},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={15883-15889},
  year = "2024"
}

What you see is what you get: experience ranking with deep neural dataset-to-dataset similarity for topological localisation

Gadd M, Ramtoula B, De Martini D & Newman P (2024), Experimental Robotics: The 18th International Symposium, 595-607

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@inproceedings{whatyouseeiswha-2024/8,
  title={What you see is what you get: experience ranking with deep neural dataset-to-dataset similarity for topological localisation},
  author={Gadd M, Ramtoula B, De Martini D & Newman P},
  booktitle={18th International Symposium on Experimental Robotics (ISER 2023)},
  pages={595-607},
  year = "2024"
}

Visual DNA: representing and comparing images using distributions of neuron activations

Ramtoula B, Gadd M, Newman P & De Martini D (2023), 11113-11123

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@inproceedings{visualdnarepres-2023/8,
  title={Visual DNA: representing and comparing images using distributions of neuron activations},
  author={Ramtoula B, Gadd M, Newman P & De Martini D},
  booktitle={IEEE / CVF Computer Vision and Pattern Recognition Conference (CVPR 2023)},
  pages={11113-11123},
  year = "2023"
}

Towards Collaborative Simultaneous Localization and Mapping: A Survey of the Current Research Landscape

Lajoie P-Y, Ramtoula B, Wu F & Beltrame G (2022), Field Robotics, 2, 971-1000

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BibTeX View PDF 
@article{towardscollabor-2022/5,
  title={Towards Collaborative Simultaneous Localization and Mapping: A Survey of the Current Research Landscape},
  author={Lajoie P-Y, Ramtoula B, Wu F & Beltrame G},
  journal={Field Robotics},
  volume={2},
  pages={971-1000},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2022"
}

MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception

Ramtoula B, Caccavale A, Beltrame G & Schwager M (2021), Springer Proceedings in Advanced Robotics, 19, 520-532

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@inproceedings{mslraptoradofre-2021/,
  title={MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception},
  author={Ramtoula B, Caccavale A, Beltrame G & Schwager M},
  pages={520-532},
  year = "2021"
}

Planetary Exploration With Robot Teams: Implementing Higher Autonomy With Swarm Intelligence

St-Onge D, Kaufmann M, Panerati J, Ramtoula B, Cao Y et al. (2020), IEEE Robotics & Automation Magazine, 27(2), 159-168

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@article{planetaryexplor-2020/6,
  title={Planetary Exploration With Robot Teams: Implementing Higher Autonomy With Swarm Intelligence},
  author={St-Onge D, Kaufmann M, Panerati J, Ramtoula B, Cao Y et al.},
  journal={IEEE Robotics & Automation Magazine},
  volume={27},
  pages={159-168},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2020"
}

DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams

Lajoie P-Y, Ramtoula B, Chang Y, Carlone L & Beltrame G (2020), IEEE Robotics and Automation Letters, 5(2), 1656-1663

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BibTeX View PDF 
@article{doorslamdistrib-2020/4,
  title={DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams},
  author={Lajoie P-Y, Ramtoula B, Chang Y, Carlone L & Beltrame G},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  pages={1656-1663},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2020"
}

Fantastic features and where to find them: a probing method to combine features from multiple foundation models

Ramtoula B, Lajoie P-Y, Newman P & De Martini D (0)

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BibTeX 
@inproceedings{fantasticfeatur-/,
  title={Fantastic features and where to find them: a probing method to combine features from multiple foundation models},
  author={Ramtoula B, Lajoie P-Y, Newman P & De Martini D},
  booktitle={38th Advances in Neural Information Processing Systems (NeurIPS 2025)}
}