Publications

Book

AMR

R. Siegwart, I.R. Nourbakhsh, and D. Scaramuzza

Introduction to autonomous mobile robots 2nd Edition (hardback)

A Bradford Book, The MIT Press, ISBN: 978-0-262-01535-6, February, 2011

MIT Website Book Website Buy

 

Peer-Reviewed Papers

2017  
RSS17_Foehn

 

P. Foehn, D. Falanga, N. Kuppuswamy, R. Tedrake, D. Scaramuzza

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload

Robotics: Science and Systems (RSS), Boston, 2017.

Best Student Paper Award Finalist! Oral Presentation.

PDF (PDF, 1958 KB) YouTube

AURO17_Delmerico

 

J. Delmerico, S. Isler, R. Sabzevari, D. Scaramuzza

A comparison of volumetric information gain metrics for active 3D object reconstruction

Autonomous Robots, April 2017

arXiv17_Mueggler

E. Mueggler, G. Gallego, H. Rebecq, D. Scaramuzza

Continuous-Time Visual-Inertial Trajectory Estimation with Event Cameras

(Under review)

PDF

ICRA17_Zhang

 

Z. Zhang, C. Forster, D. Scaramuzza

Active Exposure Control for Robust Visual Odometry in HDR Environments

IEEE International Conference on Robotics and Automation (ICRA), 2017.

PDF (PDF, 1450 KB)    Video

ICRA17_Gassner

M. Gassner, T. Cieslewski, D. Scaramuzza

Dynamic Collaboration without Communication: Vision-Based Cable-Suspended Load Transport with Two Quadrotors

IEEE International Conference on Robotics and Automation (ICRA), 2017.

PDF (PDF, 2818 KB)Video

RAL17_Mancini

 

M. Mancini, G. Costante, P. Valigi, T.A. Ciarfuglia, J. Delmerico, D. Scaramuzza

Towards Domain Independence for Learning-Based Monocular Depth Estimation

IEEE Robotics and Automation Letters (RA-L), 2017.

PDF (PDF, 3066 KB)

throw

M. Faessler, D. Falanga, and D. Scaramuzza

Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight

IEEE Robotics and Automation Letters (RA-L), Vol. 2, Issue 2, pp. 476-482, Apr. 2017.

PDF (PDF, 1292 KB)Video

RAL16_Cieslewski

 

T. Cieslewski, D. Scaramuzza

Efficient Decentralized Visual Place Recognition Using a Distributed Inverted Index

IEEE Robotics and Automation Letters (RA-L), Vol. 2, Issue 2, pp. 640-647, Apr. 2017.

PDF (PDF, 2281 KB)   

RAL16_Delmerico

 

J. Delmerico, E. Mueggler, J. Nitsch, D. Scaramuzza

Active Autonomous Aerial Exploration for Ground Robot Path Planning

IEEE Robotics and Automation Letters (RA-L), Vol. 2, Issue 2, pp. 664-671, Apr. 2017.

PDF (PDF, 1705 KB)   Video

EVO

H. Rebecq, T. Horstschaefer, G. Gallego, D. Scaramuzza

EVO: A Geometric Approach to Event-based 6-DOF Parallel Tracking and Mapping in Real-time

IEEE Robotics and Automation Letters (RA-L), Vol. 2, Issue 2, pp. 593-600, Apr. 2017.

PDF (PDF, 1621 KB)Video

RAL16_Gallego

 

G. Gallego and D. Scaramuzza

Accurate Angular Velocity Estimation with an Event Camera

IEEE Robotics and Automation Letters (RA-L), Vol. 2, Issue 2, pp. 632-639, Apr. 2017.

PDF (PDF, 2487 KB)Video

Arxiv16_Falanga

D. Falanga, E. Mueggler, M. Faessler, D. Scaramuzza

Aggressive Quadrotor Flight through Narrow Gaps with Onboard Sensing and Computing using Active Vision

IEEE International Conference on Robotics and Automation (ICRA), 2017.

PDF (PDF, 2045 KB) YouTube Video

RSS15_Forster

Christian Forster, Zichao Zhang, Michael Gassner, Manuel Werlberger, Davide Scaramuzza

SVO: Semi-Direct Visual Odometry for Monocular and Multi-Camera Systems

IEEE Transactions on Robotics, Vol. 33, Issue 2, pages 249-265, Apr. 2017.

Includes comparison against ORB-SLAM, LSD-SLAM, and DSO and comparison among Dense, Semi-dense, and Sparse Direct Image Alignment.

PDF (PDF, 13022 KB) YouTube

Davis Dataset

E. Mueggler, H. Rebecq, G. Gallego, T. Delbruck, D. Scaramuzza

The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAM

International Journal of Robotics Research, Vol. 36, Issue 2, pages 142-149, Feb. 2017.

PDF (arXiv) YouTube Dataset

RSS15_Forster

C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza

On-Manifold Preintegration for Real-Time Visual-Inertial Odometry

IEEE Transactions on Robotics, Vol 33, Issue 1, pp. 1-21, Feb. 2017.

PDF (PDF, 3504 KB) YouTube

tango2

J. Kaiser, A Martinelli, F. Fontana, D. Scaramuzza

Simultaneous State Initialization and Gyroscope Bias Calibration in Visual Inertial aided Navigation

IEEE Robotics and Automation Letters (RA-L), pages 18 - 25, 2016.

PDF (PDF, 1249 KB) DOI

2016  
SLAM

C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I.D. Reid, J.J. Leonard

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age

IEEE Transactions on Robotics, Vol. 32, Issue 6, pp. 1309-1332, Dec. 2016.

PDF (arXiv)

SSRR

R. Kaeslin, P. Fankhauser, E. Stumm, Z. Taylor, E. Mueggler, J. Delmerico, D. Scaramuzza, R. Siegwart, M. Hutter

Collaborative Localization of Aerial and Ground Robots through Elevation Maps

International Symposium on Safety, Security, and Rescue Robotics (SSRR), Lausanne, 2016.

PDF (PDF, 3950 KB)

EMVS

H. Rebecq, G. Gallego, D. Scaramuzza

EMVS: Event-based Multi-View Stereo

British Machine Vision Conference (BMVC), York, 2016.

Best Industry Paper Paper Award! Oral Talk: Acceptance Rate 7%

PDF (PDF, 8809 KB) YouTube

Posetracking

G. Gallego, Jon E. A. Lund, E. Mueggler, H. Rebecq, T. Delbruck, D. Scaramuzza

Event-based, 6-DOF Camera Tracking for High-Speed Applications

(Under review)

PDF (arXiv) (PDF, 3979 KB) YouTube

ISER16_delmerico

J. Delmerico, A. Giusti, E. Mueggler, L.M. Gambardella, D. Scaramuzza

"On-the-spot Training" for Terrain Classification in Autonomous Air-Ground Collaborative Teams

International Symposium on Experimental Robotics (ISER), Tokyo, 2016.

PDF (PDF, 4043 KB) YouTube

EB Visual Odometry

B. Kueng, E. Mueggler, G. Gallego, D. Scaramuzza

Low-Latency Visual Odometry using Event-based Feature Tracks

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016.

Best Application Paper Award Finalist! Highlight Talk: Acceptance Rate 2.5%

PDF (PDF, 1623 KB) YouTube

eb_feature_tracking

D. Tedaldi, G. Gallego, E. Mueggler, D. Scaramuzza

Feature Detection and Tracking with the Dynamic and Active-pixel Vision Sensor (DAVIS)

International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP), Krakow, 2016.

PDF (PDF, 1241 KB)

elised

C. Braendli, J. Strubel, S. Keller, D. Scaramuzza, T. Delbruck

ELiSeD - An Event-Based Line Segment Detector

International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP), Krakow, 2016.

PDF (PDF, 816 KB)

TRO16_costante

G. Costante, C. Forster, J. Delmerico, P. Valigi, D. Scaramuzza

Perception-aware Path Planning

IEEE Transactions on Robotics, conditionally accepted, 2016.

PDF (PDF, 4616 KB)
TRO16_Sabzevari

R. Sabzevari, D. Scaramuzza

Multi-body Motion Estimation from Monocular Vehicle-Mounted Cameras

IEEE Transactions on Robotics, Vol. 32, Issue 3, pp. 638-651, Jun. 2016.

PDF (PDF, 8097 KB) YouTube (coming soon)

Quad

M. Faessler, F. Fontana, C. Forster, E. Mueggler, M. Pizzoli, D. Scaramuzza

Autonomous, Vision-based Flight and Live Dense 3D Mapping with a Quadrotor Micro Aerial Vehicle

Journal of Field Robotics, 2016.

PDF (PDF, 2438 KB) YouTube1 YouTube2 YouTube3 YouTube4 Software

Active reconstruction

S. Isler, R. Sabzevari, J. Delmerico, D. Scaramuzza

An Information Gain Formulation for Active Volumetric 3D Reconstruction

IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016.

PDF (PDF, 3836 KB) YouTube Software

benefit_vo_fov

Z. Zhang, H. Rebecq, C. Forster, D. Scaramuzza

Benefit of Large Field-of-View Cameras for Visual Odometry

IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016.

PDF (PDF, 6292 KB) YouTube Research page (datasets and software)

RAL16_giusti

 

A. Giusti, J. Guzzi, D.C. Ciresan, F. He, J.P. Rodriguez, F. Fontana, M. Faessler, C. Forster, J. Schmidhuber, G. Di Caro, D. Scaramuzza, L.M. Gambardella

A Machine Learning Approach to Visual Perception of Forest Trails for Mobile Robots

IEEE Robotics and Automation Letters (RA-L), Vol. 1, Issue 2, pp. 661-667, Jul. 2016.

Nominated for AAAI Best Video Award!

PDF (PDF, 4637 KB) Project Webpage and Datasets DOI YouTube

2015  
RSS15 Forster

C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza

IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation

Robotics: Science and Systems (RSS), Rome, 2015.

Best Paper Award Finalist! Oral Presentation: Acceptance Rate 4%

PDF (PDF, 2212 KB) YouTube

ECMR15

E. Mueggler, N. Baumli, F. Fontana, D. Scaramuzza

Towards Evasive Maneuvers with Quadrotors using Dynamic Vision Sensors

European Conference on Mobile Robots (ECMR), Lincoln, 2015.

PDF (PDF, 665 KB)

RSS15_Mueggler

E. Mueggler, G. Gallego, D. Scaramuzza

Continuous-Time Trajectory Estimation for Event-based Vision Sensors

Robotics: Science and Systems (RSS), Rome, 2015.

PDF (PDF, 1806 KB)

throw

M. Faessler, F. Fontana, C. Forster, D. Scaramuzza

Automatic Re-Initialization and Failure Recovery for Aggressive Flight with a Monocular Vision-Based Quadrotor

IEEE International Conference on Robotics and Automation (ICRA), Seattle, 2015.

PDF (PDF, 633 KB) YouTube

ICRA15_Forster

C. Forster, M. Faessler, F. Fontana, M. Werlberger, D. Scaramuzza

Continuous On-Board Monocular-Vision-based Elevation Mapping Applied to Autonomous Landing of Micro Aerial Vehicles

IEEE International Conference on Robotics and Automation (ICRA), Seattle, 2015.

PDF (PDF, 8076 KB) YouTube

DVS

E. Mueggler, C. Forster, N. Baumli, G. Gallego, D. Scaramuzza

Lifetime Estimation of Events from Dynamic Vision Sensors

IEEE International Conference on Robotics and Automation (ICRA), Seattle, 2015.

PDF (PDF, 726 KB)  Code

JFR15_Majdik

A.L. Majdik, D. Verda, Y. Albers-Schoenberg, D. Scaramuzza

Air-ground Matching: Appearance-based GPS-denied Urban Localization of Micro Aerial Vehicles

Journal of Field Robotics, Vol. 32, Issue 7, pp. 1015-1039, Oct. 2015.

PDF (PDF, 3236 KB) YouTube Dataset

opticflow

V. Grabe, H.H. Bulthoff, D. Scaramuzza, P.R. Giordano

Nonlinear Ego-Motion Estimation from Optical Flow for Online Control of a Quadrotor UAV

International Journal of Robotics Research, Vol. 34, Issue 8, pp. 1114-1135, May 2015.

PDF (PDF, 2549 KB)

Nanoquad

C. Troiani, A. Martinelli, C. Laugier, D. Scaramuzza

Low Computational-Complexity Algorithms for Vision-aided Inertial Navigation of Micro Aerial Vehicles

Robotics and Autonomous Systems Journal, Vol. 69, pp. 80-97, 2015.

PDF (PDF, 2890 KB)

2014  
SSRR14

E. Mueggler, M. Faessler, F. Fontana, D. Scaramuzza

Aerial-guided Navigation of a Ground Robot among Movable Obstacles

IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Toyako-cho, 2014.

PDF (PDF, 791 KB) YouTube Presentation at AUTOMATICA

dvs_localization

E. Mueggler, B. Huber, D. Scaramuzza

Event-based, 6-DOF Pose Tracking for High-Speed Maneuvers

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, 2014.

PDF (PDF, 926 KB) YouTube

RSS14

C. Forster, M. Pizzoli, D. Scaramuzza

Appearance-based Active, Monocular, Dense Reconstruction for Micro Aerial Vehicles

Robotics: Science and Systems (RSS), Berkeley, 2014.

PDF (PDF, 7383 KB) YouTube

ICRA14_Majdik

A. L. Majdik, D. Verda, Y. Albers-Schoenberg, D. Scaramuzza

Micro Air Vehicle Localization and Position Tracking from Textured 3D Cadastral Models

IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.

PDF (PDF, 8668 KB)

MbSfm

R. Sabzevari, D. Scaramuzza

Monocular Simultaneous Multi-Body Motion Segmentation and Reconstruction from Perspective Views

IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.

PDF (PDF, 2627 KB)

RSS15_Forster

C. Forster, M. Pizzoli, D. Scaramuzza

SVO: Fast Semi-Direct Monocular Visual Odometry

IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.

PDF (PDF, 1435 KB) YouTube Software

DVS

A. Censi, D. Scaramuzza,

Low-Latency Event-Based Visual Odometry

IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.

PDF (PDF, 3821 KB)

REMODE

M. Pizzoli, C. Forster, D. Scaramuzza

REMODE: Probabilistic, Monocular Dense Reconstruction in Real Time

IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.

PDF (PDF, 3255 KB) YouTube

sFly

D. Scaramuzza, M.C. Achtelik, L. Doitsidis, F. Fraundorfer, E.B. Kosmatopoulos, A. Martinelli, M.W. Achtelik, M. Chli, S.A. Chatzichristofis, L. Kneip, D. Gurdan, L. Heng, G.H. Lee, S. Lynen, L. Meier, M. Pollefeys, A. Renzaglia, Roland Siegwart, J.C. Stumpf, P. Tanskanen, C. Troiani, S. Weiss

Vision-Controlled Micro Flying Robots: from System Design to Autonomous Navigation and Mapping in GPS-denied Environments.

IEEE Robotics and Automation Magazine, Vol. 21, Issue 3., 2014.

PDF (PDF, 3903 KB)

ICRA14_Jiang

Y. Jiang, H. Chen, G. Xiong, D. Scaramuzza

ICP Stereo Visual Odometry for Wheeled Vehicles based on a 1DOF Motion Prior

IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.

PDF (PDF, 795 KB)

nanoquad

C. Troiani, A. Martinelli, C. Laugier, D. Scaramuzza

2-Point-based Outlier Rejection for Camera-IMU Systems with applications to Micro Aerial Vehicles

IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.

PDF (PDF, 973 KB)

ICRA14_Faessler

M. Faessler, E. Mueggler, K. Schwabe, D. Scaramuzza

A Monocular Pose Estimation System based on Infrared LEDs

IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.

PDF (PDF, 1741 KB) YouTube

Springer_Book

D. Scaramuzza

Omnidirectional Camera

Computer Vision: A Reference Guide, Editors: Katsushi Ikeuchi, ISBN: 978-0-387-30771-8 (Print) 978-0-387-31439-6 (Online), Springer, April, 2014.

PDF Chapter (PDF, 1626 KB) Springer Book's Website

2013  
PAMI13_Censi

A. Censi, D. Scaramuzza

Calibration by Correlation using Metric Embedding from Non-metric Similarities

IEEE Transaction on Pattern Analysis and Machine Intelligence, Vol. 35, Issue 10, 2013.

PDF (PDF, 2795 KB) Supplementary Material (PDF, 2749 KB) Datasets and Source Code

IROS13_Forster2

C. Forster, M. Pizzoli, D. Scaramuzza

Air-Ground Localization and Map Augmentation Using Monocular Dense Reconstruction

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, 2013.

PDF (PDF, 1389 KB) PPT (PPT, 150 KB) YouTube

IROS13_Forster3

C. Forster, S. Lynen, L. Kneip, D. Scaramuzza,

Collaborative Monocular SLAM with Multiple Micro Aerial Vehicles

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, 2013.

PDF (PDF, 2048 KB) PPT (PPT, 380 KB) YouTube

nanoquad

C. Troiani, A. Martinelli, C. Laujier, D. Scaramuzza

1-Point-based Monocular Motion Estimation for Computationally-Limited Micro Aerial Vehicles

European Conference on Mobile Robotics (ECMR), Barcelona, 2013.

PDF (PDF, 998 KB)

DVS3

A. Censi, J. Strubel, C. Brandli, T. Delbruck, D. Scaramuzza,

Low-latency localization by Active LED Markers tracking using a Dynamic Vision Sensor

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, 2013.

PDF (PDF, 1507 KB) PPT (PPT, 394 KB)

ICRA14_Majdik

A. Majdik, Y. Albers-Schoenberg, D. Scaramuzza

MAV Urban Localization from Google Street View Data

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, 2013.

PDF (PDF, 1736 KB) PPT (PPT, 346 KB) YouTube Air-ground Image Dataset (GZ, 35562 KB)

ICRA13_Forster

C. Forster, D. Sabatta, R. Siegwart, D. Scaramuzza

RFID-Based Hybrid Metric-Topological SLAM for GPS-denied Environments.

IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, 2013.

PDF (PDF, 1888 KB)

2012  
AURO12_Michael

N. Michael, D. Scaramuzza, V. Kumar

Special issue on micro-UAV perception and control

Autonomous Robots, Volume 33, Issue 1-2, pages 173-188, 2012.

PDF (PDF, 159 KB)

IROS13_Forster3

L. Doitsidis, S. Weiss, A. Renzaglia, M.W. Achtelik, E. Kosmatopoulos, R. Siegwart, D. Scaramuzza

Optimal Surveillance Coverage for Teams of Micro Aerial Vehicles in GPS-denied Environments using Onboard Vision

Autonomous Robots, Volume 33, Issue 1-2, pages 173-188, 2012.

PDF (PDF, 2253 KB)

ICRA12_Anati

R. Anati, D. Scaramuzza, K. Derpanis, K. Daniilidis

Robot Localization Using Soft Object Detection

IEEE International Conference on Robotics and Automation (ICRA), St. Paul, 2012.

PDF (PDF, 530 KB)

RAM12_Scaramuzza

F. Fraundorfer, D. Scaramuzza

Visual odometry: Part II - Matching, robustness, optimization, and applications

IEEE Robotics and Automation Magazine, Volume 19, issue 2, 2012.

PDF (PDF, 1710 KB)

2011  
RSS15_Forster

D. Scaramuzza, F. Fraundorfer

Visual Odometry: Part I - The First 30 Years and Fundamentals

IEEE Robotics and Automation Magazine, Volume 18, issue 4, 2011.

PDF (PDF, 526 KB)

JFR11_Scaramuzza

D. Scaramuzza

Performance Evaluation of 1-Point-RANSAC Visual Odometry

Journal of Field Robotics, Volume 28, issue 5, 2011.

PDF (PDF, 1607 KB)

sFly

S. Weiss, D. Scaramuzza, R. Siegwart

Monocular-SLAM-Based Navigation for Autonomous Micro Helicopters in GPS-denied Environments

Journal of Field Robotics, Volume 28, issue 6, 2011.

PDF (PDF, 1058 KB)

svo

D. Scaramuzza

1-Point-RANSAC Structure from Motion for Vehicle-Mounted Cameras by Exploiting Non-holonomic Constraints

International Journal of Computer Vision, Volume 95, Issue 1, 2011.

PDF (PDF, 947 KB)

REMODE2

S. Weiss, M. Achtelik, L. Kneip, D. Scaramuzza, R. Siegwart

Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance

Journal of Intelligent and Robotic Systems, Springer, Volume 61, Issue 1-4, January, 2011.

PDF (PDF, 1542 KB)

 

D. Eberli, D. Scaramuzza, S. Weiss, and R. Siegwart. Vision Based Position Control for MAVs Using one Single Circular Landmark. Intelligent and Robotic Systems, Springer, Volume 61, issue 1-4, January, 2011. [ PDF (PDF, 770 KB) ]

 

G. Nuetzi, S. Weiss, D. Scaramuzza, and R. Siegwart. Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM. Intelligent and Robotic Systems, Springer, Volume 61, issue 1-4, January, 2011. [ PDF  (PDF, 590 KB)]

 

D. Scaramuzza, A. Censi, K. Daniilidis. Exploiting Motion Priors in Visual Odometry for Vehicle-Mounted Cameras with Non-holonomic Constraints. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, September, 2011. [ PDF (PDF, 707 KB) ]

 

L. Doitsidis, A. Renzaglia, S. Weiss, E. Kosmatopoulos, D. Scaramuzza, R. Siegwart. 3D Surveillance Coverage Using Maps Extracted by a Monocular SLAM Algorithm. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, September, 2011. [ PDF (PDF, 1845 KB) ]

 

L. Kneip, D. Scaramuzza, R. Siegwart. A Novel Parameterization of the Perspective-Three-Point Problem for a Direct Computation of Absolute Camera Position and Orientation. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Colorado Springs, USA, 2011. [ PDF (PDF, 269 KB) ] [C/C++ code (ZIP, 9 KB)]

 

L. Kneip, A. Martinelli, S. Weiss, D. Scaramuzza, R. Siegwart. A Closed-Form Solution for Absolute Scale Velocity Determination Combining Inertial Measurements and a Single Feature Correspondence. IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, 2011. [ PDF (PDF, 1274 KB) ]

2010  
 

D. Scaramuzza, F. Fraundorfer, and M. Pollefeys. Closing the Loop in Appearance-Guided Omnidirectional Visual Odometry by Using Vocabulary Trees. Robotics and Autonomous System Journal (Elsevier), Volume 58, issue 6, June, 2010. [ PDF (PDF, 2292 KB) ]

 

L. Kneip, D. Scaramuzza, R. Siegwart. On the Initialization of Statistical Optimum Filters with Application to Motion Estimation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, October, 2010. C/C++ Code is available here. [ PDF (PDF, 208 KB) ]

 

D. Scaramuzza, L. Spinello, R. Triebel, R., Siegwart. Key Technologies for Intelligent and Safer Cars from Motion Estimation to Predictive Motion Planning. IEEE International Conference on Industrial Electronics, Bari, Italy, July, 2010. [ PDF (PDF, 1035 KB) ]

 

S. Weiss, M. Achtelik, L. Kneip, D., Scaramuzza, R. Siegwart, . Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance. International Conference on Unmanned Aerial Vehicles (UAV'10), Dubai, June, 2010. [ PDF (PDF, 1828 KB) ]

 

G. Nuetzi, S. Weiss, D. Scaramuzza, R. Siegwart. Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM. International Conference on Unmanned Aerial Vehicles (UAV'10), Dubai, June, 2010. [ PDF (PDF, 4489 KB) ]

 

D. Eberli, D. Scaramuzza, S. Weiss, R. Siegwart. Vision based Position Control for MAVs using one single Artificial Landmark. International Conference on Unmanned Aerial Vehicles (UAV'10), Dubai, June, 2010 [ PDF (PDF, 404 KB) ]

 

D. Sabatta, D. Scaramuzza, R. Siegwart. Improved Appearance-Based Matching in Similar and Dynamic Environments Using a Vocabulary Tree. IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May, 2010. [ PDF (PDF, 1142 KB) ]

 

F. Fraundorfer, D. Scaramuzza, M. Pollefeys. A Constricted Bundle Adjustment Parameterization for Relative Scale Estimation in Visual Odometry. IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May, 2010. [ PDF (PDF, 858 KB) ]

 

M. Bloesch, S. Weiss, D. Scaramuzza, R. Siegwart. Vision Based MAV Navigation in Unknown and Unstructured Environments. IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May, 2010. [ PDF (PDF, 747 KB) ]

 

S. Zingg, D. Scaramuzza, S. Weiss, R. Siegwart. MAV Navigation through Indoor Corridors Using Optical Flow. IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May, 2010. [ PDF (PDF, 709 KB) ]

2009  
 

D. Scaramuzza, R. Siegwart, and A. Martinelli. A Robust Descriptor for Tracking Vertical Lines in Omnidirectional Images and its Use in Mobile Robotics. International Journal on Robotics Research, Volume 28, issue 2, February, 2009. [ PDF (PDF, 2290 KB) ]

 

D. Scaramuzza, F. Fraundorfer, M. Pollefeys, R. Siegwart. Absolute Scale in Structure from Motion from a Single Vehicle Mounted Camera by Exploiting Nonholonomic Constraints. IEEE International Conference on Computer Vision (ICCV 2009), Kyoto, September-October, 2009. [ PDF (PDF, 478 KB) ]

 

M. Liu, D. Scaramuzza, C. Pradalier, R. Siegwart, Q. Chen. Scene Recognition with Omnidirectional Vision for Topological Map using Lightweight Adaptive Descriptors. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St Louis, Missouri, USA, October 2009. [ PDF (PDF, 863 KB) ]

 

D. Scaramuzza, F. Fraundorfer, R. Siegwart. Real-Time Monocular Visual Odometry for On-Road Vehicles with 1-Point RANSAC. IEEE International Conference on Robotics and Automation (ICRA 2009), Kobe, Japan, May, 2009. [ PDF (PDF, 7208 KB) ]

2008  
 

D. Scaramuzza, R. Siegwart. Appearance-Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles. IEEE Transactions on Robotics, Volume 24, issue 5, October 2008. [ PDF (PDF, 1262 KB) ]

 

D. Scaramuzza, F. Fraundorfer, M. Pollefeys, R. Siegwart. Closing the Loop in Appearance-Guided Structure-from-Motion for Omnidirectional Cameras. European Conference on Computer Vision (ECCV'08), Eighth Workshop on Omnidirectional Vision (OMNIVIS'08), Marseille, France, October, 2008. [ PDF (PDF, 2292 KB) ]

 

D. Scaramuzza, C. Pradalier, R. Siegwart. Performance Evaluation of a Vertical Line Descriptor for Omnidirectional Images. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, September 2008. [ PDF (PDF, 863 KB) ]

 

M. Rufli, D. Scaramuzza, R. Siegwart. Automatic Detection of Checkerboards on Blurred and Distorted Images. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, September 2008. [ PDF (PDF, 1310 KB) ]

 

D. Scaramuzza. Omnidirectional Vision: from Calibration to Robot Motion Estimation. PhD thesis, ETH Zurich. Thesis no. 17635. Thesis advisor: Prof. Roland Siegwart. Committee members: Prof. Patrick Rives (INRIA Sophia Antipolis), Prof. Luc Van Gool (ETH Zurich). Chair: Prof. Lino Guzzella (ETH Zurich), Zurich, February 22, 2008. This thesis was awarded the Robotdalen Scientific Award (20,000 Euros), the most prestigious award for PhD theses in the field of robotics and automation (Robotdalen). [ PDF (PDF, 7679 KB) ]

2007  
 

D. Scaramuzza, A. Harati, R. Siegwart. Extrinsic Self Calibration of a Camera and a 3D Laser Range Finder from Natural Scenes. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), San Diego, USA, October 2007. [ PDF (PDF, 510 KB) ]

 

D. Scaramuzza, N. Criblez, A. Martinelli, R. Siegwart. Robust Feature Extraction and Matching for Omnidirectional Images. Field and Service Robotics, Springer Tracts in Advanced Robotics Volume 42, pp 71-81, 2007. [ PDF (PDF, 725 KB) ]

2006  
 

D. Scaramuzza, A. Martinelli, R. Siegwart. A Toolbox for Easily Calibrating Omnidirectional Cameras. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), Beijing, China, October 2006. [ PDF (PDF, 1665 KB) ]

 

A. Martinelli, D. Scaramuzza, R. Siegwart. Automatic Self-Calibration of a Vision System during Robot Motion. IEEE International Conference on Robotics and Automation (ICRA 2006), Orlando, USA, May 2006. [ PDF (PDF, 573 KB) ]

 

D. Scaramuzza, A. Martinelli, R. Siegwart. A Flexible Technique for Accurate Omnidirectional Camera Calibration and Structure from Motion. IEEE International Conference on Computer Vision Systems (ICVS 2006), New York, USA, January 2006. [ PDF (PDF, 590 KB) ]

2005  
 

D. Scaramuzza, M. Vetterli. Sparse Codes for Natural Images. Technical Report, Ecole Polytechnique Federal de Lausanne, EPFL, Lausanne, Switzerland, October 2005. [ PDF (PDF, 2886 KB) ]

 

D. Scaramuzza, A. Martinelli, R. Siegwart. Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing. European Conference on Mobile Robots (ECMR 2005), Ancona, Italy, September 2005. [ PDF (PDF, 507 KB) ]

 

D. Scaramuzza, S. Pagnottelli, P. Valigi. Ball Detection and Predictive Ball Following Based on a Stereoscopic Vision System. IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, April 2005. [ PDF (PDF, 407 KB) ]

2004  
 

D. Scaramuzza Design and realization of a Stereoscopic Vision System for Robotics, with applications to tracking of moving objects and self-localization. Master Thesis, Department of Electronic and Information Engineering, University of Perugia, Perugia, Italy. This thesis won the Feberdcomin-Aica Award as the best 2004 Italian Master thesis in ICT. [ PDF (PDF, 7513 KB)  Italian only]