Miles Hansard

Senior Lecturer, Vision group.
ARQ Centre for Advanced Robotics.
firstname.lastname@qmul.ac.uk
QMUL School of EECS,
London E1 4NS, UK.
https://github.com/mhansard/

Research interests
• Statistical scene and image models
• Depth cameras and 3D scene reconstruction
• LiDAR and radar scanning and modelling
• Binocular vision and eye-movements

Publications and presentations

Probabilistic graspability. M. Hansard. In preparation, 2025.

Stochastic polycube objects for robotic grasping research. M. Hansard. Preprint, 2025.

Graspability of polycube objects. M. Hansard. ARIA Robot Dexterity Workshop, UCL, 2025.

Polycube objects for robotic grasping research. M. Hansard. BMVA Symposium: robotics foundation and world models, 2025.

Generalized energy operators for the analysis of local image structure. M. Hansard. European Conference on Visual Perception, 2024.

Spatial calibration of millimeter-wave radar for close-range object location., J. A. Paredes, M. Hansard, K. Z. Rajab, and F. J. Alvarez. IEEE Sensors 24 (12), 19407-19416, 2024.

Statistical stratification and benchmarking of robotic grasping performance, B. Denoun, M. Hansard, B. Leon, and L. Jamone. IEEE Transactions on Robotics 39(6), 4539-4551, 2023.

Grasping Robot Integration and Prototyping: The GRIP Software Framework. B. Denoun, B. Leon, M. Hansard, and L. Jamone. IEEE Robotics and Automation Magazine (RAM), 28(2), 2021.

A Gaussian Process model for UAV localization using millimetre wave radar. J. A. Paredes, F. J. Alvarez, M. Hansard, and K. Z. Rajab. Expert Systems with applications 185(15), 2021. Preprint.

Fast synthesis of atmospheric image effects. M. Hansard. Proc. ACM Conference on Visual Media Production (CVMP) 2019. Preprint

A perceptual bias for man-made objects in humans. A. M. H. Ismail, J. A. Solomon, M. Hansard and I. Mareschal. Proc. Royal Society B: Biological Sciences, 2019.

Spatial distribution of eye-movements after central vision loss is consistent with an optimal visual search strategy. A. Vasilyev and M. Hansard. International Journal of Neural Systems, 2019.

Constrained optimization for plane-based stereo. S. Ahmed, M. Hansard and A. Cavallaro. IEEE Trans. Image Processing, 2018.

Layered scene models from single hazy images. L. Zhao, M. Hansard and A. Cavallaro. IEEE Trans. Visualization and Computer Graphics, 2017.

Causes of discomfort in stereoscopic content: a review. K. Terzić and M. Hansard. arXiv:1703.04574, 2017.

A tilt after-effect for images of buildings: evidence of selectivity for the orientation of everyday scenes. A.M.H. Ismail, J.A. Solomon, M. Hansard and I. Mareschal. Royal Society Open Science, 2016.

Visibility of motion blur and strobing artefacts in video at 100 frames per second. R. Selfridge, K. Noland, and M. Hansard. European Conference on Visual Media Production, 2016.

Methods for reducing visual discomfort in stereoscopic 3D: A Review. K. Terzić and M. Hansard. Signal Processing: Image Communication, 2016.

An overview of depth cameras and range scanners based on time-of-flight technologies. R. Horaud, M. Hansard, G. Evangelidis, and Clement Menier. Machine Vision Applications 27(7), 1005-1020, 2016. Preprint.

Stochastic visibility in point-sampled scenes M. Hansard. Proc. BMVC, 89.1-89.12, 2015.

Cross-calibration of time-of-flight and colour cameras. M. Hansard, G. Evangelidis, Q. Pelorson and R. Horaud. CVIU 134, 105-115, 2015. Preprint.

Fusion of range and stereo data for high-resolution scene-modeling. G. Evangelidis, M. Hansard and R. Horaud. IEEE Trans. PAMI, 37(11), 2178-2192, 2015.

Pop-up modelling of hazy scenes. L. Zhao, M. Hansard and A. Cavallaro. Proc. ICIAP, LNCS 9279, 306-318, 2015.

Automatic detection of calibration grids in time-of-flight images. M. Hansard, R. Horaud, M. Amat and G. Evangelidis. CVIU 121, 108-118, 2014.

Time-of-Flight Cameras: Principles, Methods and Applications. M. Hansard, S. Lee, O. Choi and R. Horaud. Springer monograph, 2013.

Binocular projection of a random scene. M. Hansard. Proc. BMVC, 90.1-90.11, 2012.

Real-time visuomotor update of an active binocular head. M. Sapienza, M. Hansard and R. Horaud. Autonomous Robots, 34(1-2), 35-45, 2012. Preprint.

Projective alignment of range and parallax data. M. Hansard, R. Horaud, M. Amat and S. Lee. IEEE International Conference on Computer Vision and Pattern Recognition, CVPR 2011, 3089-3096. Preprint Poster

A differential model of the complex cell. M. Hansard and R. Horaud. Neural Computation 23(9), 2324-2357, 2011.

A Gaussian derivative model of the complex cell. M. Hansard and R. Horaud, Perception 39; Abstracts of the European Conference on Visual Perception, 48, 2010.

Cyclo-rotation models for eyes and cameras. M. Hansard and R. Horaud. IEEE Trans. Systems, Man & Cybernetics B; Cybernetics. 40(1), 151-161, 2010.

View-based approaches to spatial representation in human vision. A. Glennerster, M. Hansard, A. W. Fitzgibbon. Proc. Dagstuhl Seminar on Statistical and Geometrical Approaches to Visual Motion Analysis. LNCS 5064, 193-208, 2009.

Cyclopean geometry of binocular vision. M. Hansard and R. Horaud. Journal of the Optical Society of America A, 25, 2357-2369, 2008. Preprint

Recent projects

Publications and presentations