People currently in the group

Lab Direction

Prof. Dr. Davide Scaramuzza

Ph.D. ETH Zurich

Office: 2.10

Phone: +41 44 635 24 09

Administration

Tamar Tolcachier

Assistant of Prof. Scaramuzza

Office: 2.21

Phone: +41 44 635 24 07

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


Senior Researchers and Postdocs

Dr. Guillermo Gallego

Ph.D. Georgia Institute of Technology

Office: 2.12

Phone: +41 44 635 43 42

Dr. Jeffrey A. Delmerico

Ph.D. University at Buffalo, New York

Office: 2.16

Phone: +41 44 635 45 89


PhD Students

Matthias Fässler

MSc ETH Zurich

Office: 2.16

Phone: +41 44 635 45 89

Elias Mueggler

MSc ETH Zurich

Office: 2.16

Phone: +41 44 635 45 89


Davide Falanga

MSc University of Naples "Federico II"

Office: 2.16

Phone: +41 44 635 45 89

Titus Cieslewski

MSc EPFL Lausanne

Office: 2.12

Phone: +41 44 635 45 75


Henri Rebecq

MSc Ecole Normale Superieure de Cachan

Office: 2.12

Phone: +41 44 635 45 75

Zichao Zhang

Beihang University, Beijing

Office: 2.12

Phone: +41 44 635 45 75


Drone Engineer

Alessandro Simovic

MSc ETH Zurich

Office: 2.16

Phone: +41 44 635 45 89

Research Assistant

Timo Horstschäfer

MSc ETH Zurich

Office: 2.12

Phone: +41 44 635 45 75


Visiting Researchers

Naveen Kuppuswamy

Ph.D. University of Zurich

Toyota Research Institute (TRI), Boston (MA)

Office: 2.08

Rubén Gómez Ojeda

M.Sc. University of Málaga

Office: 2.08


Alumni

Junjie Zhang

MSc RWTH Aachen University

Researcher at RPG from 2014 to 2016

Michael Gassner

MSc EPFL Lausanne

Research assistant at RPG from 2015 to 2016

Now at Insightness


Dr. Stefano Ghidoni

Ph.D. University of Parma

Visiting Research Scientist 2016

Assistant Professor at the University of Padua

Christian Forster

MSc ETH Zurich, PhD Uni. Zurich

PhD student at RPG from 2012 to 2016

Zurich-Eye spinoff from 2015 to 2016

Now at Oculus VR Zurich


Dr. Matia Pizzoli

Ph.D. Univ. of Rome La Sapienza

Postdoc at RPG from 2012 to 2014

Zurich-Eye spinoff from 2015 to 2016

Now at Oculus VR Zurich

Dr. Manuel Werlberger

Ph.D. Graz University of Technology

Postdoc at RPG from 2014 to 2015

Zurich-Eye spinoff from 2015 to 2016

Now at Oculus VR Zurich


Raphael Meyer

MSc ETH Zurich

Hardware engineer at RPG from 2015 to 2016

Dr. Reza Sabsevari

Ph.D. Italian Institute of Technology

Postdoc at RPG from 2013 to 2015

Now Research Scientist at Bosch


Flavio Fontana

MSc ETH Zurich

Research assistant at RPG from 2013 to 2015

Now engineer at Verity Studios

Dr. Sergei Lupashin

Ph.D. ETH Zurich

Postdoc at RPG from 2013 to 2014

Now CEO of Fotokite


Dr. Andrea Censi

Ph.D. California Institute of technology

Visiting Research Scientist 2013

Now research scientist at MIT

Dr. Andras Majdik

Ph.D. University of Cluj-Napoca

Postdoc at RPG from 2012 to 2013

Now research scientist at Hungarian Academy of Sciences


Gabriele Costante

Ph.D. University of Perugia

Visiting PhD student at RPG from 2013 to 2014

Volker Grabe

Ph.D. Max Planck Institute

Visiting PhD student at RPG from 2012 to 2014

Now research scientist at Carnegie Mellon University


Chiara Troiani

Ph.D. INRIA, Grenoble

Visiting PhD student at RPG from 2013 to 2014

Now R&D engineer at SenseFly

Yanhua Jiang

Ph.D. Beijing Institute of Technology

Visiting PhD student at RPG from 2012 to 2013

Now research scientist at Chinese Academy of Science


Damiano Verda

Ph.D. University of Genoa

Visiting PhD student at RPG from 2013 to 2013

Now reseach scientist at Italian Centro Nazionale delle Ricerche

Antonio Toma

Ph.D. Polytechnic of Turin

Visiting PhD student at RPG from 2014 to 2014

Now R&D vehicle dynamics engineer at Lamborghini


Filippo Basso

University of Padua

Visiting PhD student at RPG from 2013 to 2014


Former Students

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

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

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

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 Project

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 ]

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 ] [ 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 ] [ 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 ] [ 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 map representation and showed that the system works at radical view-point differences.

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