Jonathan A. Cox

Rajitha de Silva, Jonathan Cox, Marija Popovic et al.

Robust robot navigation in outdoor environments requires accurate perception systems capable of handling visual challenges such as repetitive structures and changing appearances. Visual feature matching is crucial to vision-based pipelines but remains particularly challenging in natural outdoor settings due to perceptual aliasing. We address this issue in vineyards, where repetitive vine trunks and other natural elements generate ambiguous descriptors that hinder reliable feature matching. We hypothesise that semantic information tied to keypoint positions can alleviate perceptual aliasing by enhancing keypoint descriptor distinctiveness. To this end, we introduce a keypoint semantic integration technique that improves the descriptors in semantically meaningful regions within the image, enabling more accurate differentiation even among visually similar local features. We validate this approach in two vineyard perception tasks: (i) relative pose estimation and (ii) visual localisation. Across all tested keypoint types and descriptors, our method improves matching accuracy by 12.6%, demonstrating its effectiveness over multiple months in challenging vineyard conditions.

Villanelle O'Reilly, Jonathan Cox, Georgios Leontidis et al.

Density map estimation can be used to estimate object counts in dense and occluded scenes where discrete counting-by-detection methods fail. We propose a multicategory counting framework that leverages a Twins pyramid vision-transformer backbone and a specialised multi-class counting head built on a state-of-the-art multiscale decoding approach. A two-task design adds a segmentation-based Category Focus Module, suppressing inter-category cross-talk at training time. Training and evaluation on the VisDrone and iSAID benchmarks demonstrates superior performance versus prior multicategory crowd-counting approaches (33%, 43% and 64% reduction to MAE), and the comparison with YOLOv11 underscores the necessity of crowd counting methods in dense scenes. The method's regional loss opens up multi-class crowd counting to new domains, demonstrated through the application to a biodiversity monitoring dataset, highlighting its capacity to inform conservation efforts and enable scalable ecological insights.

Rajitha de Silva, Jonathan Cox, James R. Heselden et al.

Accurate localisation is critical for mobile robots in structured outdoor environments, yet LiDAR-based methods often fail in vineyards due to repetitive row geometry and perceptual aliasing. We propose a semantic particle filter that incorporates stable object-level detections, specifically vine trunks and support poles into the likelihood estimation process. Detected landmarks are projected into a birds eye view and fused with LiDAR scans to generate semantic observations. A key innovation is the use of semantic walls, which connect adjacent landmarks into pseudo-structural constraints that mitigate row aliasing. To maintain global consistency in headland regions where semantics are sparse, we introduce a noisy GPS prior that adaptively supports the filter. Experiments in a real vineyard demonstrate that our approach maintains localisation within the correct row, recovers from deviations where AMCL fails, and outperforms vision-based SLAM methods such as RTAB-Map.

Justin E. Doak, Joe B. Ingram, Sam A. Mulder et al.

A forensics investigation after a breach often uncovers network and host indicators of compromise (IOCs) that can be deployed to sensors to allow early detection of the adversary in the future. Over time, the adversary will change tactics, techniques, and procedures (TTPs), which will also change the data generated. If the IOCs are not kept up-to-date with the adversary's new TTPs, the adversary will no longer be detected once all of the IOCs become invalid. Tracking the Known (TTK) is the problem of keeping IOCs, in this case regular expressions (regexes), up-to-date with a dynamic adversary. Our framework solves the TTK problem in an automated, cyclic fashion to bracket a previously discovered adversary. This tracking is accomplished through a data-driven approach of self-adapting a given model based on its own detection capabilities. In our initial experiments, we found that the true positive rate (TPR) of the adaptive solution degrades much less significantly over time than the naive solution, suggesting that self-updating the model allows the continued detection of positives (i.e., adversaries). The cost for this performance is in the false positive rate (FPR), which increases over time for the adaptive solution, but remains constant for the naive solution. However, the difference in overall detection performance, as measured by the area under the curve (AUC), between the two methods is negligible. This result suggests that self-updating the model over time should be done in practice to continue to detect known, evolving adversaries.