Publications

'Generating 3D Inversive Sets by Class through Abstract Hypergraphs': Theory and code for making general 3D inversive (Kleinian) limit sets. 2025

'Five Archetypal Self-similar Solids using Inversive Geometry': Examples of scale-symmetric geometry. 2024.

'Exploring Scale Symmetry': A visual exploration of scale-symmetric geometry. 2021.

'Raycloudtools: A Concise Interface for the Analysis and Manipulation of Ray Clouds': Summary of ray cloud processing library

'Canopy Density Estimation for Horticultural Crops using Spinning Lidar SLAM' - Journal of Field Robotics (JFR), 2021

'OVPC Mesh: 3D Free-space Representation for Local Ground Vehicle Navigation' - International Conference on Robotics and Automation (ICRA), 2019

'Colourising Point Clouds using Independent Cameras' - Robotics and Automation Letters, 2018

'Complementary Perception for Handheld SLAM' - Robotics and Automation Letters and ICRA, 2018

'The Multilegged Autonomous Explorer (MAX)' - ICRA, 2017

'Three Variable-dimension Surfaces' - Researchgate, 2016

'Improving Image Clarity using Local Feature Dimension' (free postprint pdf) - IET Image Processing, 2014

Short talk and poster on bipedal motion. 2007