Name Email Phone Office
Group Leader
Davide Scaramuzza

Prof. Dr. Davide Scaramuzza

Ph.D. ETH Zurich


+41 44 635 24 09


Tamar Tolcachier


Tamar Tolcachier

Assistant of Prof. Scaramuzza

Office Hours: 

Mon 8:00am - 5:00pm
Tue 8:00am - 12:00pm
Thu 8:00am - 5:00pm
Fri 8:00am - 12:00pm

tolcachier (at) ifi (dot) uzh (dot) ch

+41 44 635 24 07


Senior Researchers and Postdocs

Guillermo Gallego

Dr. Guillermo Gallego

Ph.D. Georgia Institute of Technology

guillermo.gallego (at) ifi (dot) uzh (dot) ch

+41 44 635 43 42


Dr. Jeffrey A. Delmerico

Dr. Jeffrey Delmerico

Ph.D University of Buffalo, New York

jeffdelmerico (at) ifi (dot) uzh (dot) ch

+41 44 635 45 89


Dr. Suseong Kim

Dr. Suseong Kim

Ph.D Seoul National University

suseong (at) ifi (dot) uzh (dot) ch

+41 44 635 45 89


Ph.D. Students
Matthias Faessler

Matthias Faessler

M.Sc. ETH Zurich

faessler (at) ifi (dot) uzh (dot) ch +41 44 635 43 66 2.08
Davide Falanga

Davide Falanga

M.Sc. University of Naples "Federico II"

falanga (at) ifi (dot) uzh (dot) ch +41 44 635 45 89 2.12
Henri Rebecq

Henri Rebecq

M.Sc. Ecole Normale Superieure de Cachan

rebecq (at) ifi (dot) uzh (dot) ch +41 44 635 43 42 2.08
Zichao Zhang

Zichao Zhang

M.Sc. University of Zurich

zzhang (at) ifi (dot) uzh (dot) ch +41 44 635 43 73 2.08
Titus Cieslewski

Titus Cieslewski

M.Sc. EPFL Lausanne

titus (at) ifi (dot) uzh (dot) ch +41 44 635 43 73 2.08
Antonio Loquercio

Antonio Loquercio

M.Sc. ETH Zurich

loquercio (at) ifi (dot) uzh (dot) ch +41 44 635 43 73 2.12
Philipp Foehn

Philipp Foehn

M.Sc. ETH Zurich

foehn (at) ifi (dot) uzh (dot) ch +41 44 635 43 66 2.12
Philipp Foehn

Elia Kaufmann

M.Sc. ETH Zurich

ekaufmann (at) ifi (dot) uzh (dot) ch   2.12
Philipp Foehn

Mathias Gehrig

M.Sc. ETH Zurich

mgehrig (at) ifi (dot) uzh (dot) ch   2.12
Research Engineers
Julien Kohler

Julien Kohler

M.Sc. ETH Zurich

jkohler (at) ifi (dot) uzh (dot) ch +41 44 635 43 66 2.08
Visiting Researchers
Alessandro Simovic


Yi Zhou

Ph.D. student at ANU

 yi (dot) zhou (at) anu (dot) edu (dot) au   2.16
Alessandro Simovic


Bojana Nenezic

M.Sc. student at University of Belgrade

nb163105m (at) student(dot) etf (dot) bg (dot) ac (dot) rs   2.16
Research Assistants
Alessandro Simovic


Jonathan Huber

M.Sc. ETH Zurich

jonathan.huber (at) uzh (dot) ch   2.16


Former Members

  Name Position at RPG Current position
Alessandro Simovic
Alessandro Simovic Drone Engineer at RPG from 2016 to 2017
Alessio Zanchettin


Alessio Zanchettin

Research Assistant at RPG from 2016 to 2017  
Elias Mueggler

Toni Rosinol Vidal


Research Assistant at RPG, 2017  
Elias Mueggler

Elias Mueggler


PhD student at RPG from 2012 to 2017  

Timo Horstschäfer

Research Assistant at RPG from 2016 to 2017  
Naveen Kuppuswamy

Naveen Kuppuswamy


Visiting Research from 2016 to 2017 Now at Toyota Research Institute (TRI), Boston (MA)
Ruben Gomez

Ana Maqueda


Visiting PhD student, 2017    
Ruben Gomez

Ruben Gomez

Visiting researcher at RPG from 2016 to 2017  
Michael Gassner

Michael Gassner

Research assistant at RPG from 2015 to 2016 Now at Insightness
Junjie Zhang

Junjie Zhang


Researcher at RPG from 2014 to 2016
Christian Forster
Dr. Christian Forster

PhD Student 2012-2016

Zurich-Eye spinoff 2015-2016

Oculus VR Zurich
Matia Pizzoli
Dr. Mattia Pizzoli

PostDoc 2012-2014

Zurich-Eye spinoff 2015-2016

Oculus VR Zurich
Manuel Werlberger
Dr. Manuel Werlberger

PostDoc 2014-2015

Zurich-Eye spinoff 2015-2016

Oculus VR Zurich
Raphael Meyer
Raphael Meyer Hardware Engineer 2015-2016  
Reza Sabzevari
Dr. Reza Sabsevari PostDoc 2013-2015 Research Scientist at Bosch
Flavio Fontana
Flavio Fontana PhD Student 2013-2015 Engineer at Verity Studios
Sergei Lupashin
Dr. Sergei Lupashin PostDoc 2013-2014 CEO of Fotokite
Andrea Censi
Dr. Andrea Censi Visiting Research Scientist 2013 Now at nuTonomy and ETH Zurich
Andras Majdik
Dr. Andreas Majdik PostDoc 2012-2013 Research Scientist at Hungarian Academy of Sciences
Gabriele Costante
Dr. Gabriele Costante Visiting PhD Student 2013-2014  
Volker Grabe
Dr. Volker Grabe Visiting PhD Student 2012-2014 Research Scientist at Carnegie Mellon University
Chiara Troiani
Dr. Chiara Troiani Visiting PhD Student 2013-2014 R&D Engineer at SenseFly
Dr. Yanhua Jiang Visiting PhD Student 2012-2013 Research Scientist at Chinese Academy of Science
Damiano Verda
Dr. Damiano Verda Visiting PhD Student 2013 Research Scientist at Italian Centro Nazionale delle Ricerche
Antonio Toma
Dr. Antonio Toma Visiting PhD Student 2014 Engineer at Altran
Filippo Basso
Filippo Basso Visiting PhD Student 2013-2014  


Former B.Sc. and M.Sc. students

Robin Scherrer. Master Project, 2017 

Robin worked on control and planning for quadrotors manipulating slung-loads.

Supervised by Naveen Kuppuswamy, Davide Falanga and Philipp Foehn

Christopher Tchervenkov. Master Project, 2017 

Chris worked on active exploration and visual saliency mapping with a quadrotor in a search-and-rescue scenario.

Supervised by Jeff Delmerico

Elia Kaufmann. Master Project, 2017

Elia worked on obstacle avoidance and rapid exploration with the Intel Realsense RGBD camera.

Supervised by Titus Cieslewski

Philipp Foehn. Master Project, 2017

Philipp worked on nonlinear trajectory optimization for quadrotors manipulating cable-suspended payloads.

Supervised by Davide Falanga and Naveen Kuppuswamy

Jihwan Youn. Semester Project, 2016

Jihwan implemented a 3D reconstruction algorithm using a moving stereo pair of event cameras.

Supervised by Henri Rebecq and Horstschaefer

Kaju Bubanja. Bachelor Project, 2016

Kaju simulated MBZIRC challenge 3 (collaborative object collection) and designed a high-level controller for it.

Supervised by Titus Cieslewski

Nico van Duijn. Semester Project, 2016

Nico implemented a system for autonomously picking up and transporting objects with a quadrotor.

Supervised by Jeff Delmerico

Maria Chiara Giorgetti. Semester Project, 2016

Maria Chiara worked on the integration between ROS and Drake for the RPG quadrotors.

Supervised by Davide Falanga and Naveen Kuppuswamy

Robin Scherrer. Semester Project, 2016

Robin focused on the execution of aggressive maneuvers on RPG quadrotors using Drake, Matlab and ROS.

Supervised by Davide Falanga and Naveen Kuppuswamy

Alessio Zanchettin. Master Project, 2016

Alessio investigated strategies for autonomous quadrotor landing on a moving platform using only onboard sensing and computing.

Supervised by Davide Falanga

Micha Brunner. Master Project, 2016

Micha Brunner developed an LQR control scheme to transport large slungloads with a quadrotor.

Supervised by Michael Gassner

Timo Horstschäfer. Master Thesis, 2016

Timo developed an algorithm to perform parallel tracking, depth estimation, and image reconstruction with an event camera. For his Thesis, Timo received the 2016 Fritz Kutter Award for Industry Related Thesis in Computer Science.

Supervised by Guillermo Gallego and Elias Mueggler

Filippo Martinoni. Master Project, 2016

Filippo developed localization and SLAM for robots equipped with only a couple of terarangers (and an IMU for SLAM).

Supervised by Davide Scaramuzza and Titus Cieslewski

Philipp Föhn. Semester Project, 2016

Philipp focused on the development of an estimator of the external forces acting on a quadrotor and a force-based control approach.

Supervised by Davide Falanga and Michael Gassner

Valentin Wüest. Semester Project, 2016

Valentin developed a control scheme to transport a load with a team of two UAVs.

Supervised by Michael Gassner and Davide Falanga

Jonathan Huber. Semester Project, 2016

Jonathan designed a localization pipeline that allows a ground robot using a 3D LiDAR sensor to navigate within a dense map vreated from an aerial robot.

Supervised by Jeff Delmerico and Elias Mueggler

Benjamin Imbach. Semester Project, 2016

Benjamin developed a novel sensor model to characterize a new lightweight depth camera (Intel RealSense) and deploy it on a quadrotor for performing volumetric mapping.

Supervised by Jeff Delmerico

Yawei Ye. Independent Research Project, 2016

Yawei investigated the performance of sparse and dense 3D mapping for the purpose of fast navigation and obstacle avoidance, and developed a sparse mapping software framework based on bounding boxes.

Supervised by Jeff Delmerico

Gianluca Cesari. Internship, 2016

Gianluca worked on hardware development related to the participation of RPG in the Mohamed Bin Zayed Internation Robotics Challenge.

Supervised by Michael Gassner and Jeff Delmerico

Julia Nitsch. Internship, 2016

Julia developed a system for terrain classification in a search and rescue scenario, to help enable a collaborative air-ground robot team to navigate through a previously unknown environment.

Supervised by Jeff Delmerico, Elias Mueggler, and Christian Forster

Beat Kueng. Master Thesis, 2016

Beat designed, implemented, and evaluated an event-based visual-odometry pipeline for the DAVIS. The method is based on features extracted from the frames that are then tracked using the events.

Supervised by Elias Mueggler and Guillermo Gallego

Kevin Egger. Semester Thesis, 2016

Kevin developed a fallback-landing routine for situations where the vision-based state estimation on our quadrotors fails. It enables a controlled descent and hence prevents our quadrotors from crashing in case of a failure.

Supervised by Matthias Faessler and Davide Falanga

Mathis Kappeler. Master Project, 2016

Mathis implemented and evaluated a variety of auto-exposure algorithms using a lighting testbed that he designed and built. His works increases robustness in autonomous, vision-based flight in challenging lighting conditions.

Supervised by Elias Mueggler and Manuel Werlberger

Raphael Meyer. Master Thesis, 2015

Raphael designed a custom quadrotor platform which is becoming the new standard platform for research on vision-based drones at the Robotics and Perception Group. In this project, he designed custom electronics, hardware, and software for these quadrotors.

Supervised by Matthias Faessler and Flavio Fontana

Imanol Studer. Master Project, 2015

Imanol compared, implemented, and evaluated different strategies to estimate a person's head orientation. Such algorithms enable quadrotors to remain at a constant position relative to a person.

Supervised by Elias Mueggler

Jon Lund. Master Thesis, 2015

Jon worked on pose tracking for event-based sensors. His algorithm allows high-speed camera pose tracking with low latency and high frequency.

Supervised by Guillermo Gallego and Elias Mueggler

Pavel Vechersky. Semester Thesis, 2015

Pavel developed a system for performing active dense 3D reconstruction using flying robots. His work extended the lab reconstruction demo to explore and reconstruct the environment without a precomputed set of waypoints to visit.

Supervised by Reza Sabzevari and Jeff Delmerico

Joachim Ott. Semester Thesis, 2015

Joachim worked on vision-based surface classification for micro aerial vehicles. His project was a collaboration with IDSIA in Lugano.

Supervised by Christian Forster and Elias Mueggler

Micha Brunner. Semester Thesis, 2015

Micha worked on coordinated flight with quadrotors using our infrared pose-estimation system. The incorporation of these relative robot measurements enabled autonomous flights over areas with little or no texture.

Supervised by Elias Mueggler

Igor Bozic. Master Project, 2015

Igor worked on a high-frequency position controller for the KUKA youBot arm that allows to follow end-effector trajectories both fast and precisely.

Supervised by Elias Mueggler, Flavio Fontana and Matthias Faessler

Lorenz Wellhausen. Semester Thesis, 2015

Lorenz worked on Dense Multi-Body Structure from Motion from a sequence of stereo images. He used Trajectory Flow to find the dense image correspondences and DBSCAN for segmenting the dense trajectories.

Supervised by Reza Sabzevari and Manuel Werlberger

David Tedaldi. Semester Thesis, 2015

David worked on feature tracking with the DAVIS. He developed an algorithm to detect image features in the frames and track them in time using an event-based approach.

Supervised by Guillermo Gallego and Elias Mueggler

Michael Gassner. Master Thesis, 2015

Michael developed a framework to design optimal trajectories for vision-based quadrotors. These trajectories respect the dynamical constraints of the quadrotors as well as a maximum admissible optical flow of their onboard cameras.

Supervised by Matthias Faessler and Flavio Fontana

Stefan Isler. Semester Thesis, 2015

Stefan worked on Active Dense 3D Reconstruction. He developed a pipeline to autonomously select the next camera view in order to have a complete 3D model of a given object.

Supervised by Reza Sabzevari and Jeffrey Delmerico

Eren Allak. Semester Thesis, 2015

Eren worked on a novel interest point detector and descriptor from the normal maps generated by Photometric Stereo. Such interest points are used to match texture-less objects in order to register Photometric Stereo reconstructions from different views and removing their intrinsic geometric ambiguities.

Supervised by Reza Sabzevari

Andreas Forster. Semester Thesis, 2015

Andreas worked on active camera control: he closed the loop between a visual-SLAM system and the shutter speed controller of a camera. The camera controller he developed automatically selects the best shutter speed and gain such that the SLAM system performs best. Vice-versa, the the visual-SLAM system is informed about changes in the camera system to increase the robustness of direct feature tracking.

Supervised by Christian Forster and Manuel Werlberger.

An-Phi Nguyen. Semester Thesis, 2015

An-Phi worked on Dense Multi-Body Structure from Motion. He developed a pipeline to segment images from a perspective monocular camera in order to estimate the camera ego-motion, recover the scene structure and estimate the eoru-motion of the other moving objects together with their 3D structures.

Supervised by Reza Sabzevari

Nathan Baumli. Master Thesis, 2015

Nathan worked on evasive maneuvers with quadrotors using dynamic vision sensors (DVS). His algorithm can detect and track an object thrown at a quadrotor and predict whether a collision will occur.

Supervised by Elias Mueggler and Flavio Fontana

Astrid Schlestein. Master Thesis, 2014

Astrid designed an automatic system identification routine to determine dynamical models of quadrotors using a motion capture system. The identified dynamical model is then used for delay compensation in our quadrotor control algorithms.

Supervised by Matthias Faessler and Flavio Fontana

Jonas Schuler. Master Thesis, 2014

Jonas developed an infrastructure to study the opportunities that photometric 3D reconstruction methods bring to Robotics. He designed a mobile image acquisition system for dense reconstruction of high detailed surfaces.

Supervised by Reza Sabzevari

Maximilian Schulz. Semester Thesis, 2014

Maximilian developed a state estimator that enables autonomous, vision-based quadrotors to land safely in case visual tracking fails. His work was the first step in making our quadrotors safe in case of sensor failures.

Supervised by Matthias Faessler and Flavio Fontana

Adrian Rechy Romero. Semester Thesis, 2014

Adrian developed a framework to enable in-flight calibration of sensor biases and rotor thrusts for our quadrotors. His framework is now used on a daily basis whenever we fly quadrotors.

Supervised by Flavio Fontana and Matthias Faessler

Raphael Meyer. Semester Thesis, 2014

Raphael designed an electrical and mechanical adapter board for quadrotors. It is tailored to the requirements at the Robotics and Perception Group and started the development of an entire custom quadrotor platform.

Supervised by Flavio Fontana and Matthias Faessler

Quim Sanchez. Master Thesis, 2014

Quim investiagted fast vision-based relocalization to recover the pose of a micro aerial vehicle after an agile maneuvre, e.g. a flip, in a previously built map. He developed various relocalization schemes for the SVO algorithm that are available open-source.

Supervised by Christian Forster and Matia Pizzoli

Nathan Baumli. Semester Thesis, 2014

Nathan worked on lifetime estimation of events from Dynamic Vision Sensors (DVS). A direct application of this is the construction of sharp gradient images at any time instant. His work was presented at ICRA 2015 in Seattle. [ Paper (PDF, 726 KB) ]

Supervised by Elias Mueggler and Christian Forster

Amos Zweig. Semester Thesis, 2014

Amos developed the first event-based 3D reconstruction algorithm assuming known camera trajectory and a reference grayscale image.

Supervised by Elias Mueggler and Christian Forster

Basil Huber. Master Thesis, 2014

Basil implemented an event-based tracking algorithm to estimate the pose of a quadrotor during high-speed maneuvers. He also developed a tool to capture ground-truth data from the Dynamic Vision Sensor (DVS). We presented his work at IROS 2014 in Chicago. With his thesis, he won the 2014 Fritz Kutter Award for Industry Related Thesis in Computer Science. [ Paper (PDF, 926 KB) ] [ Video ]

Supervised by Elias Mueggler and Davide Scaramuzza

Mathias Weyland. Master Thesis, 2014

In the first part of his thesis, Mathias developed a custom board to attach a Odroid-U2 computer to the NanoQuad micro aerial vehicle. The board contains a level-shifter circuit, a DC/DC converter and a high-speed USB hub. Secondly, Mathias helped to formalize the photometric disparity uncertainty for next-best-view planning in 2D that we used in the RSS'14 paper.

Supervised by Christian Forster and Matia Pizzoli

Karl Schwabe. Master Thesis, 2013

Karl developed a monocular pose estimation system based on infrared LEDs. We released his system as open source and presented it at ICRA 2014 in Hong Kong. [ Paper (PDF, 1741 KB) ] [ Video ] [ Code ]

Supervised by Matthias Faessler, Elias Mueggler, and Davide Scaramuzza

Benjamin Keiser. Master Thesis, 2013

Benjamin implemented a torque controller for the KUKA youBot arm to follow end-effector trajectories both smoothly and fast. We released his controller as open source. His thesis won the KUKA Best Student Project Award in 2013! [ Thesis (PDF, 4092 KB) ] [ Video ] [ Code ]

Supervised by Matthias Faessler and Elias Mueggler

Christian Krebs. Master Thesis, 2013

Christian developed a system for localizing an aerial-robot in a ground-robot's map using dense full-image alignment. We used a texture-augmented SDF volume as a map representation and showed that the system works with radically different viewpoints.

Supervised by Christian Forster and Matia Pizzoli

Oliver Brand. Master Thesis, 2013

Oliver developed a Kinect-aided robust gesture recognition system for human-robot interaction. We used his system at the Robots-on-Tour festival to show interaction with flying robots.

Supervised by Davide Scaramuzza and Max Lungarella

Fabrizio Cortesi. Semester Thesis, 2013

Fabrizio developed a method for visual homing in three dimensions that does not require a map or any depth information.

Supervised by Christian Forster and Davide Scaramuzza

Daniel Heid. Master Thesis, 2013

Daniel developed two different vision-based 3D reconstruction systems. The first was to reconstruct both medical pillbox and pills and the second was to reconstruct larger objects actively with a camera equipped ground-robot.

Supervised by Davide Scaramuzza and Max Lungarella

Yves Albers-Schoenberg. Semester and Master Thesis, 2013-2014

Yves worked with Andras on localizing a flying robot in a city using a single camera onboard the robot and a database of street-view images collected by Google. His system reached remarkable performance despite radical view-point and season differences. His work was published at ICRA 2013 and IROS 2014.

Supervised by Davide Scaramuzza and Andras Majdik

Tim Oberhauser. Semester Thesis, 2013

Tim developed a system to estimate the camera pose in a known map previously built by an RGB-D camera attached to a ground-robot. This system is intended to be used for air-ground robot collaboration.

Supervised by Christian Forster and Davide Scaramuzza

Mitchel Bakker. Semester Thesis, 2013

Mitchel worked on the air-ground robot collaboration project and implemented a system to estimate the aerial robot pose relative to the ground-robot using AR markers.

Supervised by Christian Forster and Davide Scaramuzza

Maurice Göldi. Semester Thesis, 2013

Maurice studied the EKF formulation of the visual SLAM problem and implemented a SLAM simulator in MATLAB.

Supervised by Christian Forster and Davide Scaramuzza

Jonas Strubel. Semester Thesis, 2013

Jonas developed a system to track blinking LEDs with the Dynamic Vision Sensor (DVS).

Supervised by Andrea Censi, Davide Scaramuzza, and Christian Brändli

Jan Portmann. Semester Thesis, 2013

Jan developed a system to interface with the Optitrack motion capture system using the Robot Operating System (ROS) and Matlab. Additionally, he implemented a system to compare trajectories.

Supervised by Volker Grabe and Christian Forster

Dominik Schlegel. Bachelor Thesis, 2013

Dominik developed a tracking device with two servo motors and one RGB camera to estimate the pose of a flying robot relative to the Turtlebot ground-robot.

Supervised by Christian Forster and Davide Scaramuzza

Christian Saner. Semester and Master Thesis, 2012-2013

Christian was our first student and built our first micro aerial vehicle based on the AR.Drone. He was a great help at many demonstrations, including the Robots on Tour festival, where he showed his Macarena dance demo of multiple MAVs.

Supervised by Christian Forster and Davide Scaramuzza