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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 |
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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 |
| 2020 | |
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M. Muglikar, Z. Zhang, D. Scaramuzza Voxel Map for Visual SLAM IEEE International Conference on Robotics And Automation (ICRA), 2020 |
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J. Kuo, Z. Zhang, M. Muglikar, D. Scaramuzza Redesigning SLAM for Arbitrary Multi-Camera Systems IEEE International Conference on Robotics and Automation (ICRA), 2020 |
| 2019 | |
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D. Scaramuzza, Z. Zhang Visual-Inertial Odometry of Aerial Robots Encyclopedia of Robotics, Springer, 2019. |
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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! |
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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 |
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D. Gehrig, A. Loquercio, K. G. Derpanis, D. Scaramuzza End-to-End Learning of Representations for Asynchronous Event-Based Data arXiv, 2019. |
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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. |
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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. |
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T. Stoffregen, G. Gallego, T. Drummond, L. Kleeman, D. Scaramuzza Event-Based Motion Segmentation by Motion Compensation arXiv, 2019 |
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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. |
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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. |
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Z. Zhang, D. Scaramuzza Beyond Point Clouds: Fisher Information Field for Active Visual Localization IEEE International Conference on Robotics and Automation (ICRA), 2019 |
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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. |
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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 |
| 2018 | |
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T. Cieslewski, M. Bloesch, D. Scaramuzza Matching Features without Descriptors: arXiv (November 2018) |
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H. Rebecq, D. Gehrig, D. Scaramuzza ESIM: an Open Event Camera Simulator Conference on Robot Learning (CoRL), Zurich, 2018. |
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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) |
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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 |
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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. |
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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. |
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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. |
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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. |
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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. |
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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 |
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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 |
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A. Loquercio, D. Scaramuzza Learning to Control Drones in Natural Environments: A Survey ICRA18 Workshop on Perception, Inference, and Learning |
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D. Palossi, A. Loquercio, F. Conti, E. Flamand, D. Scaramuzza, L. Benini Ultra Low Power Deep-Learning-powered Autonomous Nano Drones (Under review) |
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T. Cieslewski, D, Scaramuzza SIPS: Unsupervised Succinct Interest Points
arXiv (May 2018) |
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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 |
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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. |
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PAMPC: Perception-Aware Model Predictive Control for Quadrotors IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018. |
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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 |
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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. |
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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 |
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Perception-aware Receding Horizon Navigation for MAVs IEEE International Conference on Robotics and Automation (ICRA), 2018. |
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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. |
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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 |
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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. |
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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) Video ICRA18 Video Teaser Open-Source Code |
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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. |
| 2017 | |
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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. |
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Efficient Decentralized Visual Place Recognition From Full-Image Descriptors MRS 2017: the 1st International Symposium on Multi-Robot and Multi-Agent Systems |
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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% |
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Vision-based Autonomous Quadrotor Landing on a Moving Platform IEEE/RSJ International Symposium on Safety, Security and Rescue Robotics (SSRR), Shanghai, 2017. |
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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. |
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Place Recognition in Semi-Dense Maps: Geometric and Learning-Based Approaches British Machine Vision Conference (BMVC), London, 2017. |
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Fast Event-based Corner Detection British Machine Vision Conference (BMVC), London, 2017. PDF (PDF, 1 MB) Poster (PDF, 1008 KB) YouTube Open-Source Code |
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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. |
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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 |
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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) |
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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. |
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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. |
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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. |
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J. Delmerico, S. Isler, R. Sabzevari, D. Scaramuzza A comparison of volumetric information gain metrics for active 3D object reconstruction Autonomous Robots, April 2017 |
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A.L. Majdik, C. Till, D. Scaramuzza The Zurich Urban Micro Aerial Vehicle Dataset International Journal of Robotics Research, April 2017 |
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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. |
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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) |
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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. |
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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. |
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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. |
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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. |
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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. |
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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. |
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Aggressive Quadrotor Flight through Narrow Gaps with Onboard Sensing and Computing using Active Vision IEEE International Conference on Robotics and Automation (ICRA), 2017. |
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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. |
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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. |
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On-Manifold Preintegration for Real-Time Visual-Inertial Odometry IEEE Transactions on Robotics, Vol 33, Issue 1, pp. 1-21, Feb. 2017.
IEEE Transactions on Robotics (TRO) best paper award 2017
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Simultaneous State Initialization and Gyroscope Bias Calibration in Visual Inertial aided Navigation IEEE Robotics and Automation Letters (RA-L), pages 18 - 25, 2016. |
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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. |
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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 |
| 2016 | |
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Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age IEEE Transactions on Robotics, Vol. 32, Issue 6, pp. 1309-1332, Dec. 2016. |
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Collaborative Localization of Aerial and Ground Robots through Elevation Maps International Symposium on Safety, Security, and Rescue Robotics (SSRR), Lausanne, 2016. |
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EMVS: Event-based Multi-View Stereo British Machine Vision Conference (BMVC), York, 2016. Best Industry Paper Paper Award! Oral Talk: Acceptance Rate 7% |
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"On-the-spot Training" for Terrain Classification in Autonomous Air-Ground Collaborative Teams International Symposium on Experimental Robotics (ISER), Tokyo, 2016. |
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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% |
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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. |
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ELiSeD - An Event-Based Line Segment Detector International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP), Krakow, 2016. |
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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. |
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Perception-aware Path Planning IEEE Transactions on Robotics, conditionally accepted, 2016. PDF (PDF, 4 MB) |
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Multi-body Motion Estimation from Monocular Vehicle-Mounted Cameras IEEE Transactions on Robotics, Vol. 32, Issue 3, pp. 638-651, Jun. 2016. |
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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 |
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An Information Gain Formulation for Active Volumetric 3D Reconstruction IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016. |
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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) |
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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 | |
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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% |
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Towards Evasive Maneuvers with Quadrotors using Dynamic Vision Sensors European Conference on Mobile Robots (ECMR), Lincoln, 2015. |
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Continuous-Time Trajectory Estimation for Event-based Vision Sensors Robotics: Science and Systems (RSS), Rome, 2015. |
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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. |
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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. |
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Lifetime Estimation of Events from Dynamic Vision Sensors IEEE International Conference on Robotics and Automation (ICRA), Seattle, 2015. |
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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. |
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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. |
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Low Computational-Complexity Algorithms for Vision-aided Inertial Navigation of Micro Aerial Vehicles Robotics and Autonomous Systems Journal, Vol. 69, pp. 80-97, 2015. |
| 2014 | |
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Aerial-guided Navigation of a Ground Robot among Movable Obstacles IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Toyako-cho, 2014. |
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Event-based, 6-DOF Pose Tracking for High-Speed Maneuvers IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, 2014. |
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C. Forster, M. Pizzoli, D. Scaramuzza Appearance-based Active, Monocular, Dense Reconstruction for Micro Aerial Vehicles Robotics: Science and Systems (RSS), Berkeley, 2014. |
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Micro Air Vehicle Localization and Position Tracking from Textured 3D Cadastral Models IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014. |
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Monocular Simultaneous Multi-Body Motion Segmentation and Reconstruction from Perspective Views IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014. |
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SVO: Fast Semi-Direct Monocular Visual Odometry IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014. |
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Low-Latency Event-Based Visual Odometry IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014. |
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REMODE: Probabilistic, Monocular Dense Reconstruction in Real Time IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014. |
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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. |
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ICP Stereo Visual Odometry for Wheeled Vehicles based on a 1DOF Motion Prior IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014. |
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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. |
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A Monocular Pose Estimation System based on Infrared LEDs IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014. |
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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. |
| 2013 | |
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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 |
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Air-Ground Localization and Map Augmentation Using Monocular Dense Reconstruction IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, 2013. |
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Collaborative Monocular SLAM with Multiple Micro Aerial Vehicles IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, 2013. |
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1-Point-based Monocular Motion Estimation for Computationally-Limited Micro Aerial Vehicles European Conference on Mobile Robotics (ECMR), Barcelona, 2013. |
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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. |
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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) |
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RFID-Based Hybrid Metric-Topological SLAM for GPS-denied Environments. IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, 2013. |
| 2012 | |
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Special issue on micro-UAV perception and control Autonomous Robots, Volume 33, Issue 1-2, pages 173-188, 2012. |
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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. |
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Robot Localization Using Soft Object Detection IEEE International Conference on Robotics and Automation (ICRA), St. Paul, 2012. |
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Visual odometry: Part II - Matching, robustness, optimization, and applications IEEE Robotics and Automation Magazine, Volume 19, issue 2, 2012. |
| 2011 | |
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Visual Odometry: Part I - The First 30 Years and Fundamentals IEEE Robotics and Automation Magazine, Volume 18, issue 4, 2011. |
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Performance Evaluation of 1-Point-RANSAC Visual Odometry Journal of Field Robotics, Volume 28, issue 5, 2011. |
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Monocular-SLAM-Based Navigation for Autonomous Micro Helicopters in GPS-denied Environments Journal of Field Robotics, Volume 28, issue 6, 2011. |
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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. |
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Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance Journal of Intelligent and Robotic Systems, Springer, Volume 61, Issue 1-4, January, 2011. |
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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) ] |
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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)] |
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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) ] |
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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) ] |
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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)] |
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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) ] |
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| 2010 | |
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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) ] |
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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) ] |
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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) ] |
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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) ] |
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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) ] |
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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) ] |
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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) ] |
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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) ] |
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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) ] |
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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) ] |
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| 2009 | |
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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) ] |
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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) ] |
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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) ] |
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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) ] |
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| 2008 | |
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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) ] |
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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) ] |
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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) ] |
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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) ] |
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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) ] |
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| 2007 | |
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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) ] |
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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) ] |
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| 2006 | |
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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) ] |
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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) ] |
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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) ] |
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| 2005 | |
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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) ] |
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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) ] |
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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) ] |
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| 2004 | |
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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] |
