Robotics and Perception Group

Throw and Go
Tango
Matia
SVO
Window Flight
RAL16_Giusti
DAVIS
CEBIT
Air Ground
car
Lab Retreat
Scientifica 2015
Kuka Innovation Award

Welcome to the website of the Robotics and Perception Group led by Prof. Dr. Davide Scaramuzza. Our lab was founded in February 2012 and is part of the Department of Informatics at the University of Zurich. Our mission is to develop autonomous machines that can navigate all by themselves using only onboard cameras, without relying on external infrastructure, such as GPS or motion capture systems. Our interests encompass both ground and micro flying robots, as well as multi-robot heterogeneous systems consisting of the combination of these two. We do not want our machines to be passive, but active, in that they should react to and navigate within their environment so as to gain the best knowledge from it.

News

  • Our paper Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload, accepted for oral presentation at RSS'17, was nominated finalist for the Best Student Paper Award! Check out the paper here and the video here.

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  • The slides and videos of the talks of the International Workshop on Event-based Vision are now available at the workshop website and the RPG Workshops Youtube channel.

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  • We are happy to announce the release of the code for event lifetime. The lifetime of an event is the time that it takes for the moving brightness gradient causing the event to travel a distance of 1 pixel. More details in the following ICRA publication. The code can be found here.

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  • Prof. Davide Scaramuzza gave a talk at the Maker Festival in Terni about the role of computer vision in autonomous cars and drones. Check the news here (Italian).

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  • The Robotics and Perception Group wins the 2017 Misha Mahowald Prize, which recognizes outstanding achievement in the field of neuromorphic engineering. Check out the press release here.

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  • Our recent work comparing volumetric information gain metrics for object reconstruction is part of the Autonomous Robots special issue on Active Vision.

    Check out the paper here.

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  • Antonio Loquercio, PhD student in our lab, won the ETH Medal for his outstanding Master thesis! Congratulations!

     

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  • Our paper on Collaborative Transport with Multiple MAVs appeared on Discovery Channel Canada. Check out the paper here.

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  • We welcome Dr. Suseong Kim as new Postdoc, and Philipp Foehn as new PhD student, in our lab!

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  • Fotokite, the Swiss startup developing tethered drones, which was incubated within RPG in 2014 through the NCCR Spin Fund, won the 2017 EUrobotics Tech Transfer Award! Congratulations! We are very proud of you!

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  • Davide Scaramuzza's seminar on visual-inertial state estimation, active vision, and event-based vision at CMU was featured on IEEE Spectrum. Watch the video on YouTube.

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  • Davide Scaramuzza talks about visual-inertial state estimation, active vision, and event-based vision at CMU Robotics Institute Seminar Series: YouTube, Abstract.

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  • Our research about autonomous drones was featured on the University of Zurich Journal as 3rd on the list of the most popular news release of 2016. Check out the journal here.

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  • Davide Scaramuzza, Andrea Censi (MIT), and Guillermo Gallego (RPG-UZH) are organizing the second International Workshop on Event-based Vision.

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  • Dacuda's 3D Division, a long-standing collaborator of RPG, got acquired by Magic Leap, the unicorn of Augmented Reality (news here). One amazing result of our collaboration was a software that runs on a smartphone and delivers at the same time an immersive virtual-reality experience like high-end VR headsets. This software was the result of a great project with RPG, which was demoed at CES 2017 (LINK). Congratulations guys!.

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  • Welcome to Antonio Loquercio as a new PhD student in our lab!

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  • Our recent work on decentralized visual place recognition using a distributed inverted index was accepted to RA-L!

    Check out the paper here.

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  • Our recent work on parallel tracking and mapping with an event camera, in real-time on a CPU, was accepted to RA-L!

    Check out the video here, and the paper here.

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  • Our recent work on motion estimation with an event camera by contrast maximization was accepted to RA-L!

    Check out the video here, and the paper here.

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  • Our recent work on quadrotor flight through narrow gaps using only onboard sensing and computing is featured on MIT Technology Review. Click here to read the article.

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  • Our recent work "Aggressive Quadrotor Flight through Narrow Gaps witn Onboard Sensing and Computing", under review for ICRA 2017, is available on Arxiv for download. [Link]

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  • Our lab was featured in the 2016 World Robotics report of the International Federation of Robotics as outstanding profile of research lab in service robotics. Check out the report here.

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  • We have several open PhD student and Postdoc positions in Deep Learning, Control, and Robot Vision for Agile, Vision-based Quadrotor Flight. For more info and applications, please see here.

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  • Zurich-Eye, the Wyss-Zurich project co-founded in Sep. 2015 by former RPG members Christian Forster (author of SVO), Matia Pizzoli (author of REMODE), and Manuel Werlberger, gets featured in the Swiss news.

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  • We are happy to announce the release of the first public datasets recorded with an event camera (DAVIS) for pose estimation, visual odometry, and SLAM applications! The data also include intensity images, inertial measurements, ground truth from a motion-capture system, synthetic data, as well as an event camera simulator! We believe that event cameras will allow future robots to move faster and more agilely. Find out more on the dataset website!

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  • Our former student and current Research Assistant Timo Horstschäfer won the Fritz Kutter Award for Industry Related Thesis in Computer Science with his Master Thesis "Parallel Tracking, Depth Estimation, and Image Reconstruction with an Event Camera". This is the second time in two years that an RPG master student wins this prestigious award! Congratulations!

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  • >Our third international workshop on VVision-based High Speed Autonomous Navigation of UAVs, co-organized by Giuseppe Loianno (UPenn), Davide Scaramuzza (RPG), and Vijay Kumar (UPenn) featured an impressive line of reknown speakers, live demos, industries, and attracted more than 200 people worldwide!

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  • Our paper Low-Latency Visual Odometry using Event-based Feature Tracks was nominated as Finalist for the Best Application Paper Award at IROS 2016. Also, it was selected as highlight oral talk, with an acceptance rate of 0.4%. Congratulations to Beat Kueng, Elias Mueggler and Guillermo Gallego!

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  • Our latest work on quadrotor flight through narrow gaps was featured on IEEE Spectrum and Robohub. For more details, check our research page.

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  • We welcome Rubén Gómez Ojeda from University of Málaga as new visiting PhD student in our lab!

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  • Check our our latest work on agile quadrotor flight through narrow gaps with onboard sensing and computing: LINK

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  • Our paper EMVS: Event-based Multi-View Stereo, receives BMVC'16 Best Industry Paper Award! Congratulations to Henri Rebecq and Guillermo Gallego!

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  • Zurich-Eye, the Wyss-Zurich project co-founded in Sep. 2015 by former RPG members Christian Forster (author of SVO), Matia Pizzoli (author of REMODE), and Manuel Werlberger, is now part of Oculus VR Zurich. RPG is very proud of them! This highlights the importance and impact of the great work they have done!

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  • Our paper "EMVS: Event-based Multi-View Stereo" about monocular 3D reconstruction using an event camera has been accepted for oral presentation at BMVC'16! Check out our publication list.

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  • Giuseppe Loianno (UPenn), Davide Scaramuzza (RPG), and Vijay Kumar (UPenn) will organize the third international workshop on VVision-based High Speed Autonomous Navigation of UAVs

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  • Welcome to Alessandro Simovic as a new drone engineer in our lab!

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  • Welcome to Stefano Ghidoni from the University of Padua as a visiting assistant professor in our lab!

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  • RPG and IDSIA have collaborated on a new paper, which will be presented at ISER 2016. We show that we can train a terrain classifier for search and rescue scenarios while our quadrotor is in flight, in only one minute! Results can be seen in this YouTube video, and details can be found in our publication list.

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  • Cesar Cadena, Luca Carlone Henry Carrillo, Yasir Latif, Davide Scaramuzza, Jose Neira, Ian Reid, and John Leonard have co-authored a paper on Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age. Check it out!

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  • Zichao Zhang and Titus Cieslewski were in the reading group that won the reading group competition at the International Computer Vision Summer School. One of the main ingredients for this success was an experimental literature visualization tool developed at the RPG group retreat.

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  • We have an open position in our team for a Drone Research Engineer. Check out our open positions.

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  • Check out our publication list.

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  • The software package corresponding to the paper An Information Gain Formulation for Active Volumetric 3D Reconstruction is now available from our Github page. This is a general, open-source, framework for volumetric reconstruction that is object, sensor, and robot-agnostic. Some results can be see in this YouTube video.

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  • Welcome to Dr. Naveen Kuppuswamy, our new visiting researcher from Toyota Research Institute Boston (MA)!

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  • Elias Mueggler, a PhD student in our lab, won a Qualcomm Innovation Fellowship with his proposal "Event-based Vision for High-Speed Robotics"!

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  • Check out our publication list.

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  • We received huge media coverage for our research on autonomous drone navigation in the forests using Deep Neural Network; among these, Discovery Channel Canada and NBC News.

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  • Our recent work on autonomous navigation in the forests using Deep Neural Networks makes it to IEEE Spectrum and Robohub.

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  • Our recent work on autonomous navigation in the forests using Deep Neural Networks makes it to the Swiss National TV News channel: SRF Tagesschau.

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  • This research appeared in the IEEE Robotics and Automation Letter, will be presented at the IEEE International Conference on Robotics and Automation (ICRA'16) and is nominated for the best AAAI video Award. Journal paper. More info. YouTube video.

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  • Davide Scaramuzza was appointed Associate Faculty at Wyss Zurich, the new translational center of UZH and ETH Zurich dedicated to regenerative and robotics technologies.

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  • Titus Cieslewski, a PhD student in our lab, has received a prize from Homegate during the HackZurich hackathon, for the project Wonsch. He and his team were among the top 3 of the 20 teams that participated in the Homegate challenge during the hackathon.

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  • NCCR Robotics interviews Davide Scaramuzza about how his academic path, from working as a magician in theatres and public squares to pay his undergraduate studies to becoming a robotics professor (LINK).

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  • Welcome to Titus Cieslewski as a new PhD student in our lab!

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  • NCCR Robotics organized the Swiss Robotics Industry day at EPFL Lausanne. We showed the collaboration of a flying robot with a legged robot from ETH Zurich. Some highlights are shown in a video by Le Matin.

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  • An interview with Davide Scaramuzza was published on Robots Podcast and Robohub. Check out our media page!

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  • Davide Scaramuzza gives a tutorial on event-based vision at the IROS'15 workshop on Alternative Sensing for Robot Perception: Beyond Laser and Vision. The slides can be downloaded from here.

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  • Our second international workshop on Vision-based Control and Navigation of Small, Lightweight UAVs, co-organized by Giuseppe Loianno (UPenn), Davide Scaramuzza (RPG), and Vijay Kumar (UPenn) featured an impressive line of reknown speakers, live demos, industries, and attracted more than 200 people worldwide!

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  • Welcome to Michael Gassner as a new research assistant in our lab!

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  • Giuseppe Loianno (UPenn), Davide Scaramuzza (RPG), and Vijay Kumar (UPenn) will organize the second international workshop on Vision-based Control and Navigation of Small, Lightweight UAVs at IROS'15.

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  • The Robotics and Perception Group showed their research at Scientifica, the sciene fair of ETH and University of Zurich. 25.000 visitors attended the event. Have a look at the gallery!

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  • Christian Forster (author of SVO), Matia Pizzoli (author of REMODE), and Manuel Werlberger create Zurich-Eye, an spinoff project of Wyss-Zurich dedicated to the commercialization of visual-inertial navigation solutions.

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  • Christian Forster's RSS'15 paper is Best Paper Award Finalist at RSS'15!

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  • Check out our publication list.

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  • Welcome to Henri Rebecq as a new PhD student in our lab!

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  • Andrea Censi (MIT) and Davide Scaramuzza organized a workshop on Innovative Sensing for Robotics at ICRA'15!

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  • Welcome to Davide Falanga as a new PhD student in our lab!

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  • Our latest work on failure recovery from agressive flight IEEE Spectrum. For more details, see the ICRA'15 paper and the accompanying video.

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  • Check out our publication list.

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  • RPG showcased its autonomous quadrotors and live 3D reconstruction at this year's CeBIT, the world's largest computer expo! See some pictures in our gallery.

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  • Check out our publication list.

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  • In this clip, we summarize our main achievements, projects, awards, exhibitions, and upcoming videos! Watch our YouTube video!

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  • Davide Scaramuzza wins ERC Starting Grant, through the Swiss National Science Foundation.

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  • Our SSRR'14 paper on "Aerial-guided Navigation of a Ground Robot among Movable Obstacles" was selected as Finalist for the Best Paper Award. Our ICRA'14 paper "REMODE: Probabilistic, Monocular Dense Reconstruction in Real Time" was nominated as Finalist for the NCCR Best PostDoc Paper Award.

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  • Our former Master student Basil Huber won the 2014 Fritz Kutter Award for Industry Related Thesis in Computer Science. His thesis was on High-Speed Pose Estimation using a Dynamic Vision Sensor. Congratulations!

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  • Our latest work on event-based vision was featured on IEEE Spectrum. For more details, see the IROS'14 paper and the accompanying video.

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  • We welcome Dr. Manuel Werlberger as new Postdoc in our lab! We are also happy to host Junije Zhang and Zichao Zhang as visiting PhD students.

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  • Check out our publication list.

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  • We will demonstrate autonomous, vision-based flight and live dense 3D mapping with a quadrotor MAV at the ECCV workshop on Computer Vision in Vehicle Technology on Sep. 6 at 5:30pm. Watch here the video preview.

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  • We welcome Dr. Guillermo Gallego and Dr. Jeff Delmerico as new Postdocs in our lab! We are also happy to host Antonio Toma, Gabriele Costante, Nathaly Gasparin, Ra'Eesah Mangera, Kumar Shaurya Shankar and Xin Yu as visiting students this year.

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  • Many thanks to Google Tango!

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  • The Robotics and Perception Group wins the KUKA Innovation Award (20.000 EUR) with its demonstration of collaboration of flying and ground robots for search-and-rescue missions. Watch a video of the demo at AUTOMATICA.

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  • Davide Scaramuzza wins the 2014 IEEE Robotics and Automation Society Early Career Award "for his major contributions to robot vision and visually-guided micro aerial vehicles".

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  • The software corresponding to the paper SVO: Fast Semi-direct Monocular Visual Odometry can now be downloaded from our Github page. The source code is released under a GPLv3 licence. A professional edition license for closed-source projects is also available.

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  • RPG appears among the best 12 European robotics success stories advertised by EU commission. Read the full article.

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  • Our latest work on event-based vision was featured in the MIT News. For more details, see the ICRA'14 paper.

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  • Check out our publication list.

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  • Many thanks to Google!

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  • Check out our publication list.

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  • Daniel Buchmüller, co-founder and software engineer at Amazon Prime Air, visited us.

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  • The Robotics and Perception Group was featured in the news programme 10vor10 of the Swiss National TV (SRF). Check the video!

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  • Benjamin Keiser won the KUKA Best Student Project Award 2013 with his Master thesis Torque Control of a KUKA youBot Arm that he did with the Robotics and Perception Group. A demonstration of the capabilities of his controller is shown in this video.

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  • The Robotics and Perception Group was featured in a documentary on the German-French TV channel ARTE. Check both the German and French version!

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  • Henri Seydoux, CEO and founder of Parrot, the company making the popular toy quadrocopter AR.Drone, visited us.

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  • Open position at the Robotics and Perception Group. Check here.

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  • We are organizing the first international workshop on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments, featuring amazing live flight demonstrations!

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  • We will be presenting papers in sessions Localization II (Nov. 4) and Unmanned Aerial Vehicles IV (Nov. 5).

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  • The report can be found here.

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  • We welcome Sergei Lupashin as a new Postdoc in our lab!

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  • Check out our publication list.

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  • We welcome Reza Sabzevari as a new Postdoc in our lab!

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  • RPG will give two talks at ICRA'13: one by Christian Forster (ThDInt.14) and one by Davide Scaramuzza (link)

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  • A documentary by the Swiss TV about our autonomus helicopters for search and rescue(link to original article)

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  • The Swiss Robotics Festival is the largest Swiss Robotics exhibition, which this year attracted more than 20,000 participants. What some impressions from our demonstrations! (link)

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  • Welcome to Flavio Fontana as a new PhD student in our lab!

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  • Our Easter video featuring a ground and an aerial robot got featured in IEEE Spectrum News and Gizmodo, the famous technology review webblogs. Read the articles: IEEE Spectrum and Gizmodo

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  • Weltwoche, a Swiss weekly magazine, talks about drones in the daily life. Read the article: "Der Spion von deinem Fenster" (German only).

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  • UZH and ETH Students are welcome to apply for a project at our lab.

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  • Welcome to Chiara Troiani from INRIA, Volker Grabe from Max Planck Institute, and Damiano Verda from University of Genoa, who will join us for six months.

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  • Welcome to Matthias Faessler and Elias Mueggler as new PhD students in our lab!

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  • We welcome Dr. Matia Pizzoli and Dr. Andras Majdik, our two new postdocs, and to Yanhua Jiang and Volker Grabe, our new visiting PhD students!

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  • Welcome to Dr. Andrea Censi, our new visiting postdoc for three months!

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  • Prof. Davide Scaramuzza has been invited to give a talk at TEDxZurich on October 25, 2012.

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  • Join the talk about Christian Forster's work on Collaborative Visual SLAM with Multiple MAVs at the RSS workshop on integration of perception with control and navigation for resource-limited, highly dynamic, autonomous systems.

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  • Congratulations! Download the press release.

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  • We welcome Christian Forster as new PhD student in our lab!

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  • The European project sFly, coordinated by Davide Scaramuzza, gets a log of media attention and gets featured on IEEE News. Read it here

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