People

Prof. Dr. Davide Scaramuzza

Ph.D. ETH Zurich

Contact

+41 44 635 24 09

2.10

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

2.21

Senior Researchers and Postdocs

Dr. Javier Hidalgo Carrio

Ph.D. University of Bremen

jhidalgocarrio (at) ifi (dot) uzh (dot) ch

+41 44 635 43 87

2.08

Dr. Dimche Kostadinov

Ph.D. University of Geneva

dimche (at) ifi (dot) uzh (dot) ch

+41 44 635 43 73

2.12

Dario Brescianini

Ph.D ETH Zurich

brescianini (at) ifi (dot) uzh (dot) ch

+41 44 635 45 89

2.16

Manasi Muglikar

M.Sc. Carnegie Mellon University

Yunlong Song

MSc TU Darmstadt

Davide Falanga

M.Sc. University of Naples "Federico II"

+41 44 635 45 89

Henri Rebecq

M.Sc. Ecole Normale Superieure de Cachan

Zichao Zhang

M.Sc. University of Zurich

Titus Cieslewski

M.Sc. EPFL Lausanne

+41 44 635 43 73

Antonio Loquercio

M.Sc. ETH Zurich

Philipp Foehn

M.Sc. ETH Zurich

+41 44 635 45 89

Elia Kaufmann

M.Sc. ETH Zurich

Mathias Gehrig

M.Sc. ETH Zurich

Daniel Gehrig

M.Sc. ETH Zurich

+41 44 635 43 87

Thomas Laengle

MSc Vienna University of Applied Sciences

+41 44 635 45 89

Manuel Sutter

BSc FHNW University of Applied Sciences

+41 44 635 45 89

Cedric Scheerlinck

M.Sc. University of Melbourne

Bianca Sangiovanni

M.Sc. University of Pavia

bianca.sangiovanni01 (at) universitadipavia (dot) it

Kevin Kleber

MSc ETH Zurich

+41 44 635 45 89

Kunal Shrivastava

MSc ETH Zurich

shrivastava (dot) ifi (at) uzh (dot) ch

+41 44 635 45 89

Giovanni Cioffi

MSc ETH Zurich

cioffi(dot) ifi (at) uzh (dot) ch

+41 44 635 45 89

Dr. Guillermo Gallego

Postdoc at RPG from 2014 to 2019

Now Associate Professor (W2) at TU Berlin

Julien Kohler

Drone Engineer from 2017 to 2019

Francisco Javier Perez Grau

Visiting Researcher at RPG from 2018 to 2019

Dr. Suseong Kim

PostDoc at RPG from 2017 to 2019

Postdoc at RPG from 2014 to 2018.

Now at Microsoft Zurich

Kosta Derpanis

Alessio Zanchettin

Toni Rosinol Vidal

Elias Mueggler

Timo Horstschäfer

Naveen Kuppuswamy

Ana Maqueda

Ruben Gomez

Michael Gassner

Junjie Zhang

PhD Student 2012-2016

Zurich-Eye spinoff 2015-2016

PostDoc 2012-2014

Zurich-Eye spinoff 2015-2016

PostDoc 2014-2015

Zurich-Eye spinoff 2015-2016

Amadeus Oertel. Master Thesis, 2019

Amadeus created a CNN-based descriptor for place recognition that fuses appearance and 3D structural information.

Supervised by Titus Cieslewski and Mathias Gehrig

Kristin Schlaepfer. Semester Thesis, 2018

Kristin worked with Roy Rutishauser on real-time detection and localization of windows and doors with a quadrotor.

Supervised by Jeff Delmerico

Roy Rutishauser. Semester Thesis, 2018

Roy worked with Kristin Schlaepfer on real-time detection and localization of windows and doors with a quadrotor.

Supervised by Jeff Delmerico

Thomas Eppenberger. Semester Thesis, 2018

Thomas worked on pruning channels of NetVLAD, a neural network for place recognition.

Supervised by Titus Cieslewski and Mathias Gehrig

Yves Kompis. Bachelor Thesis, 2018

Yves worked on a tag + VO based localization system to be used for evaluation of SLAM systems.

Supervised by Titus Cieslewski and Guillermo Gallego

Anna Leidi. Semester Project, 2018

Anna worked on minimum time trajectory generation for quadrotors.

Supervised by Davide Falanga and Suseong Kim

Nils Funk. Master Project, 2017 

Nils worked on obstacle avoidance for quadrotors using a depth sensor.

Supervised by Davide Falanga and Philipp Foehn

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, 1 MB) ] [ 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, 3 MB) ] [ 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