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Department of Informatics Robotics and Perception Group

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

 

Patents

AMR

H. Rebecq, G. Gallego, D. Scaramuzza

Simultaneous Localization and Mapping with an Event Camera

Pub. No.: WO/2018/037079.     International Application No.: PCT/EP2017/071331

Website PATENTSCOPE

 

Peer-Reviewed Papers

2020  
icra20_muglikar

 

M. Muglikar, Z. Zhang, D. Scaramuzza

Voxel Map for Visual SLAM

IEEE International Conference on Robotics And Automation (ICRA), 2020

PDF (PDF, 546 KB)

ICRA20_Kuo

 

J. Kuo, Z. Zhang, M. Muglikar, D. Scaramuzza

Redesigning SLAM for Arbitrary Multi-Camera Systems

IEEE International Conference on Robotics and Automation (ICRA), 2020

PDF (PDF, 2 MB)  YouTube

2019  
encyclopedia_vio

 

D. Scaramuzza, Z. Zhang

Visual-Inertial Odometry of Aerial Robots

Encyclopedia of Robotics, Springer, 2019.

PDF (PDF, 490 KB)

WICRA19_Zhang

 

Z. Zhang, D. Scaramuzza

Rethinking Trajectory Evaluation for SLAM: a Probabilistic, Continuous-Time Approach

ICRA19 Workshop on Dataset Generation and Benchmarking of SLAM algorithms for robotics and VR/AR

Best Paper Award!

PDF (PDF, 333 KB)

EventVisionSurvey

 

B. Nisar, P. Foehn, D. Falanga, D. Scaramuzza

VIMO: Simultaneous Visual Inertial Model-based Odometry and Force Estimation

Robotics: Science and Systems (RSS), Freiburg, 2019

PDF (PDF, 2 MB)

EventVisionSurvey

 

D. Gehrig, A. Loquercio, K. G. Derpanis, D. Scaramuzza

End-to-End Learning of Representations for Asynchronous Event-Based Data

arXiv, 2019.

PDF (PDF, 4 MB) YouTube Project Page

EventVisionSurvey

 

G. Gallego, T. Delbruck, G. Orchard, C. Bartolozzi, B. Taba, A. Censi, S. Leutenegger, A. Davison, J. Conradt, K. Daniilidis, D. Scaramuzza

Event-based Vision: A Survey

arXiv, 2019.

PDF (PDF, 3 MB)

CVPR19_Gallego

 

G. Gallego, M. Gehrig, D. Scaramuzza

Focus Is All You Need: Loss Functions for Event-based Vision

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Long Beach, 2019.

PDF (PDF, 7 MB)

arXiv19_Stoffregen

 

T. Stoffregen, G. Gallego, T. Drummond, L. Kleeman, D. Scaramuzza

Event-Based Motion Segmentation by Motion Compensation

arXiv, 2019

PDF (Animations best viewed with Acrobat Reader) YouTube

RAL19_Falanga

D. Falanga, S. Kim, D. Scaramuzza

How Fast is Too Fast? The Role of Perception Latency in High-Speed Sense and Avoid

IEEE Robotics and Automation Letters (RA-L), 2019.

PDF YouTube

RAL18_Falanga

D. Falanga, K. Kleber, S. Mintchev, D. Floreano, D. Scaramuzza

The Foldable Drone: A Morphing Quadrotor that can Squeeze and Fly

IEEE Robotics and Automation Letters (RA-L), 2019.

PDF (PDF, 4 MB) YouTube Project page

ICRA19_Zhang

 

Z. Zhang, D. Scaramuzza

Beyond Point Clouds: Fisher Information Field for Active Visual Localization

IEEE International Conference on Robotics and Automation (ICRA), 2019

PDF (PDF, 1 MB) YouTube Code (Coming soon)

ICRA19_Bryner

 

S. Bryner, G. Gallego, H. Rebecq, D. Scaramuzza

Event-based, Direct Camera Tracking from a Photometric 3D Map using Nonlinear Optimization

IEEE International Conference on Robotics and Automation (ICRA), 2019.

PDF (PDF, 2 MB)  YouTube Project Webpage and Datasets

arxiv18_cieslewski

H. Moon, J. Martinez-Carranza, T. Cieslewski, M. Faessler, D. Falanga, A. Simovic, D. Scaramuzza, S. Li, M. Ozo, C. De Wagter, G. de Croon, S. Hwang, S. Jung, H. Shim, H. Kim, M. Park, T. C. Au, S. J. Kim

Challenges and implemented technologies used in autonomous drone racing

Intelligent Service Robotics

PDF  (PDF, 2 MB)

2018  
arxiv18_cieslewski

T. Cieslewski, M. Bloesch, D. Scaramuzza

Matching Features without Descriptors:
Implicitly Matched Interest Points (IMIPs) 

arXiv (November 2018)

arXiv18_Kaufmann

H. Rebecq, D. Gehrig, D. Scaramuzza

ESIM: an Open Event Camera Simulator

Conference on Robot Learning (CoRL), Zurich, 2018.

PDF (PDF, 1 MB)  YouTube Project page

arXiv18_Kaufmann

E. Kaufmann, M. Gehrig, P. Foehn, R. Ranftl, A. Dosovitskiy, V. Koltun, D. Scaramuzza

Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing

(Under review)

arXiv  YouTube

ECCV18_Gehrig

D. Gehrig, H. Rebecq, G. Gallego, D. Scaramuzza

Asynchronous, Photometric Feature Tracking using Events and Frames

European Conference on Computer Vision (ECCV), Munich, 2018.

Oral Presentation. Oral Acceptance rate: 2.4 %

PDF (PDF, 5 MB)   Poster (PDF, 1 MB)   YouTube   Oral presentation   Evaluation Code

ECCV18_Zhou

Y. Zhou, G. Gallego, H. Rebecq, L. Kneip, H. Li, , D. Scaramuzza

Semi-Dense 3D Reconstruction with a Stereo Event Camera

European Conference on Computer Vision (ECCV), Munich, 2018.

PDF (PDF, 1 MB)  Poster (PDF, 1 MB)  YouTube

Deep Drone Racing

E. Kaufmann, A. Loquercio, R. Ranftl, A. Dosovitskiy, V. Koltun, D. Scaramuzza

Deep Drone Racing: Learning Agile Flight in Dynamic Environments

Conference on Robotic Learning (CoRL), Zurich, 2018.

Best Systems Paper Award.

Oral Presentation.

PDF YouTube

arXiv17_Mueggler

S. Kim, D. Falanga, D. Scaramuzza

Computing The Forward Reachable Set for a Multirotor Under First-Order Aerodynamic Effects

IEEE Robotics and Automation Letters (RA-L), 2018.

PDF (PDF, 2 MB)

Phd18_Faessler

M. Faessler

Quadrotor Control for Accurate Agile Flight

PhD Thesis, University of Zurich, April 2018.

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Anibal Ollero, HDR. Dr. Antonio Franchi.

PDF (PDF, 18 MB)

TRO18_Mueggler

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

Continuous-Time Visual-Inertial Odometry for Event Cameras

IEEE Transactions on Robotics, Vol. 34, Issue 6, pp. 1425-1440, 2018.

PDF (PDF, 2 MB)

arxiv18_cieslewski

R. Spica, D. Falanga, E. Cristofalo, E. Montijano, D. Scaramuzza, M. Schwager

A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing

Robotics: Science and Systems (RSS), Pittsburgh, 2018

PDF (PDF, 2 MB) Video

arXiv17_Mueggler

K. Mohta, M. Watterson, Y. Mulgaonkar, S. Liu, C. Qu, A. Makineni, K. Saulnier, K. Sun, A. Zhu, J. Delmerico, K. Karydis, N. Atanasov, G. Loianno, D. Scaramuzza, K. Daniilidis, C. Jose Taylor, V. Kumar

Fast, autonomous flight in GPS-denied and cluttered environments

arXiv YouTube

arxiv18_cieslewski

A. Loquercio, D. Scaramuzza

Learning to Control Drones in Natural Environments: A Survey

ICRA18 Workshop on Perception, Inference, and Learning

PDF (PDF, 246 KB)

Arxix18_Palossi

D. Palossi, A. Loquercio, F. Conti, E. Flamand, D. Scaramuzza, L. Benini

Ultra Low Power Deep-Learning-powered Autonomous Nano Drones

(Under review)

arXiv (PDF, 3 MB)

arxiv18_cieslewski

T. Cieslewski, D, Scaramuzza

SIPS: Unsupervised Succinct Interest Points

 

arXiv (May 2018)

 IROS18_Zhang

 

Z. Zhang, D, Scaramuzza

A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018.

PDF (PDF, 483 KB)  PPT (PPTX, 7 MB)  VO/VIO Evaluation Toolbox

ral18_zhang

 

Z. Zhang, G. Gallego, D, Scaramuzza

On the Comparison of Gauge Freedom Handling in Optimization-based Visual-Inertial State Estimation

IEEE Robotics and Automation Letters (RA-L), 2018.

PDF (PDF, 1 MB)  PPT (PPTX, 51 MB)  Code

CVPR18_Gallego

D. Falanga, P. Foehn, P. Lu, D. Scaramuzza

PAMPC: Perception-Aware Model Predictive Control for Quadrotors

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018.

PDF (PDF, 7 MB) YouTube Code

CVPR18_Gallego

G. Gallego, H. Rebecq, D. Scaramuzza

A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth and Optical Flow Estimation

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Salt Lake City, 2018.

Spotlight Presentation.

PDF (PDF, 4 MB)  Poster (PDF, 2 MB)  YouTube  Spotlight presentation

CVPR18_Maqueda

A.I. Maqueda, A. Loquercio, G. Gallego, N. Garcia, D. Scaramuzza

Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Cars

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Salt Lake City, 2018.

PDF (PDF, 3 MB)  Poster (PDF, 1 MB)  YouTube

arXiv17_Cieslewski

T. Cieslewski, S. Choudhary, D. Scaramuzza

Data-Efficient Decentralized Visual SLAM

IEEE International Conference on Robotics and Automation (ICRA), 2018.

PDF  (PDF, 629 KB)ICRA18 VIdeo Pitch PPT (PPTX, 93 MB) Code and Data

ICRA18_Zhang

Z. Zhang, D. Scaramuzza

Perception-aware Receding Horizon Navigation for MAVs

IEEE International Conference on Robotics and Automation (ICRA), 2018.

PDF (PDF, 1 MB)  Video  ICRA18 Video Pitch  PPT (PPTX, 93 MB)

ICRA2018_Delmerico

J. Delmerico, D. Scaramuzza

A Benchmark Comparison of Monocular Visual-Inertial Odometry Algorithms for Flying Robots

IEEE International Conference on Robotics and Automation (ICRA), 2018.

PDF YouTube PPT Interactive Graphs

bmcv2017_Rebecq

T. Rosinol Vidal, H. Rebecq, T. Horstschaefer, D. Scaramuzza

Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarios

IEEE Robotics and Automation Letters (RA-L), 2018.

PDF (PDF, 822 KB) YouTube ICRA18 Video Pitch  Poster (PDF, 1 MB)  Project Webpage

ICRA18_Gomez

R. Gomez-Ojeda, Z. Zhang, J. Gonzalez-Jimenez, D. Scaramuzza

Learning-based Image Enhancement for Visual Odometry in Challenging HDR Environments

IEEE International Conference on Robotics and Automation (ICRA), 2018.

PDF (PDF, 1 MB)  Video  ICRA18 Video Pitch  PPT (PPTX, 29 MB)

RAL18_Faessler_thumb

M. Faessler, A. Franchi, and D. Scaramuzza

Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories

IEEE Robotics and Automation Letters (RA-L), 2018.

PDF (PDF, 3 MB)BibTeX (BIB, 504 bytes)VideoICRA18 Video TeaserOpen-Source Code

PAMI17_Gallego
G. Gallego, J. E. A. Lund, E. Mueggler, H. Rebecq, T. Delbruck, D. Scaramuzza

Event-based, 6-DOF Camera Tracking from Photometric Depth Maps

IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol 40, Issue 10, pp. 2402-2412, 2018.

PDF (PDF, 2 MB)  YouTube  Datasets

2017  
IJCV17_Rebecq
H. Rebecq, G. Gallego, E. Mueggler, D. Scaramuzza

EMVS: Event-Based Multi-View Stereo - 3D Reconstruction with an Event Camera in Real-Time

International Journal of Computer Vision, 2017.

PDF (PDF, 11 MB) YouTube Source Code

MRS17_Cieslewski

T. Cieslewski, D. Scaramuzza

Efficient Decentralized Visual Place Recognition From Full-Image Descriptors

MRS 2017: the 1st International Symposium on Multi-Robot and Multi-Agent Systems

PDF (PDF, 3 MB) PPT (PDF, 3 MB)

bmcv2017_Rebecq

H. Rebecq, T. Horstschaefer, D. Scaramuzza

Real-time Visual-Inertial Odometry for Event Cameras using Keyframe-based Nonlinear Optimization

British Machine Vision Conference (BMVC), London, 2017. 

Oral Presentation. Acceptance Rate: 5.6%

PDF (PDF, 1 MB) PPT YouTube Oral Presentation

ssrr2017_Falanga

D. Falanga, A. Zanchettin, A. Simovic, J. Delmerico, D. Scaramuzza

Vision-based Autonomous Quadrotor Landing on a Moving Platform

IEEE/RSJ International Symposium on Safety, Security and Rescue Robotics (SSRR), Shanghai, 2017.

PDF (PDF, 2 MB) PPT YouTube

iros

T. Cieslewski, E. Kaufmann, D. Scaramuzza

Rapid Exploration with Multi-Rotors: A Frontier Selection Method for High Speed Flight

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, 2017.

PDF (PDF, 4 MB) YouTube PPT (PPTX, 72 MB)

bmvc

Y. Ye, T. Cieslewski, A. Loquercio, D. Scaramuzza

Place Recognition in Semi-Dense Maps: Geometric and Learning-Based Approaches

British Machine Vision Conference (BMVC), London, 2017.

PDF (PDF, 3 MB) Poster (PDF, 2 MB)

EVO

E. Mueggler, C. Bartolozzi, D. Scaramuzza

Fast Event-based Corner Detection

British Machine Vision Conference (BMVC), London, 2017.

PDF (PDF, 1 MB)  Poster (PDF, 1008 KB)  YouTube  Open-Source Code

Phd17_Mueggler

E. Mueggler

Event-based Vision for High-Speed Robotics

PhD Thesis, University of Zurich, July 2017.

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Tobi Delbruck, Prof. Kostas Daniilidis.

PDF (PDF, 27 MB)

TRO16_Costante

G. Costante, J. Delmerico, M. Werlberger, P. Valigi, D. Scaramuzza

Exploiting Photometric Information for Planning under Uncertainty

Springer Tracts in Advanced Robotics (International Symposium on Robotic Research), 2017.

PDF (PDF, 4 MB) PDF of longer paper version (Technical report) PPT YouTube

arXiv17_Gomez_pl_slam

R. Gomez-Ojeda, F.A. Moreno, D. Scaramuzza, J. Gonzalez-Jimenez

PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments

(Under review)

PDF (PDF, 3 MB) YouTube

arXiv17_Gomez_pl_slam

R. Gomez-Ojeda, Z. Zhang, J. Gonzalez-Jimenez, D. Scaramuzza

Learning-based Image Enhancement for Visual Odometry in Challenging HDR Environments

IEEE International Conference on Robotics and Automation (ICRA), 2018.

PDF (PDF, 1 MB) YouTube

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, 1 MB) YouTube

AURO17_Delmerico

 

V. Vasco, A. Glover, E. Mueggler, D. Scaramuzza, L. Natale, C. Bartolozzi

Independent Motion Detection with Event-driven Cameras

International Conference on Advanced Robotics (ICAR), Hong Kong, 2017.

PDF (PDF, 6 MB)

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

AURO17_Delmerico

 

A.L. Majdik, C. Till, D. Scaramuzza

The Zurich Urban Micro Aerial Vehicle Dataset

International Journal of Robotics Research, April 2017

PDF (PDF, 1 MB) Youtube Dataset

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, 1 MB)  PPT (PPTM, 94 MB)  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, 2 MB)Video PPT (PPTX, 13 MB)  Poster (PPTX, 10 MB)

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, 2 MB)  PPT

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, 1 MB)PPT (PPTX, 1 MB)VideoOpen-Source Code

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, 2 MB)   ICRA workshop presentation (PDF, 2 MB)

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, 1 MB) PPT 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, 1 MB) PPT YouTube  Poster (PDF, 1 MB)

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, 2 MB)   PPTVideo

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, 1 MB) PPT 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, 12 MB) 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, 3 MB) YouTube

 

IEEE Transactions on Robotics (TRO) best paper award 2017

 

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, 1 MB) DOI

Springer17_Wetzel

D. Scaramuzza

Application Challenges from a Bird's-Eye View

Computer Vision in Vehicle Technology: land, sea, and air. Wiley, ISBN: 978-1-118-86807-2. Edited by A, Lopez, T. Pajdla, A. Imiya, A. Alvarez. March 2017.

PDF (PDF, 8 MB) DOI

Springer17_Wetzel

O. Wetzel, A. R. Schmidt, M. Seiler, D. Scaramuzza, B. Seifert, D. R. Spahn, P. Stein

A smartphone application to determine body length for body weight estimation in children: a prospective clinical trial

Journal of Clinical Monitoring and Computing, June 2017

PDF (PDF, 1 MB)

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, 3 MB)

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, 8 MB) PPT YouTube Source Code

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, 3 MB) PPT 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, 1 MB)  PPT   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, 1 MB)  PPT  YouTube

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)

PhD16_Forster

C. Forster

Visual Inertial Odometry and Dense Reconstruction for Mobile Robots

PhD Thesis, University of Zurich, April 2016.

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Marc Pollefeys, Dr. Stefan Leutenegger.

PDF (PDF, 45 MB)

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, 4 MB)
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, 7 MB) 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, 2 MB) 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, 3 MB) PPT 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, 6 MB) PPT (PPTM, 21 MB)  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, 4 MB) PPT (PPTX, 9 MB)  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, 2 MB) 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, 1 MB)   PPT  Poster (PDF, 768 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) PPT (PDF, 1 MB)  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, 7 MB) 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)  PPT  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, 3 MB) 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, 2 MB)

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, 2 MB)

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)  PPT   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, 7 MB) 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, 8 MB)

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, 2 MB)

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, 1 MB) 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, 3 MB)

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, 3 MB) 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, 3 MB)

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, 1 MB) PPT (PPTM, 3 MB)  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, 1 MB) 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, 2 MB) Supplementary Material (PDF, 2 MB) 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, 1 MB) 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, 2 MB) 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, 1 MB) 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, 1 MB) PPT (PPT, 346 KB) YouTube Air-ground Image Dataset (GZ, 34 MB)

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, 1 MB)

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, 2 MB)

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, 1 MB)

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, 1 MB)

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, 1 MB)

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, 1 MB)

 

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, 1 MB) ]

 

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, 1 MB) ]

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, 2 MB) ]

 

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, 1 MB) ]

 

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, 1 MB) ]

 

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, 4 MB) ]

 

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, 1 MB) ]

 

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, 2 MB) ]

 

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, 7 MB) ]

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, 1 MB) ]

 

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, 2 MB) ]

 

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, 1 MB) ]

 

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, 7 MB) ]

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, 1 MB) ]

 

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, 2 MB) ]

 

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, 7 MB)  Italian only]