Davide Scaramuzza

Professor and Director of the Robotics and Perception Group

Davide Scaramuzza

Hi and welcome to my webpage! I am Assistant Professor of Robotics at the University of Zurich, where I lead the Robotics and Perception Group. My main research interest is computer vision applied to the autonomous navigation of visually-guided ground and micro flying robots.

Use the left menu for my publications and news on my group's research work. You can follow my research updates on Google+, YouTube, Google Scholar, and Facebook.


Address: University of Zurich, Andreasstrasse 15, Office 2.10, 8050 Zurich, Switzerland
Email: sdavide (at) ifi (dot) uzh (dot) ch
Phone: +41 44 635 24 09

If you decide to contact me, please notice that:

  • If you are interested in doing a PhD or Postdoc in my lab, please check the availability here. Unsolicited applications will not be considered and will not be answered.
  • If you are a Bachelor or Master student from outside Europe seeking an internship in my lab, please notice that I receive 1,000 internship requests per year; thus, I wont reply to your email and I will immediately delete your email unless: 1) you can prove that you belong to the top 1% of your class, 2) you send me a two page research proposal containing a description of the project you intend to do in my lab, related work, and a timeline with deliverables every two weeks.
  • If you are a PhD or Postdoc researcher interested in spending a visiting period in mylab, feel free to contact me.

Main Highlights

  • 2016.05.12 - My PhD student Elias Mueggler wins Qualcom Innovation Fellowship (40k Euros)
  • 2016.03.30 - Our IEEE RA-L paper with Juergen Schmidhuber receives AAAI Video Award nomination and gets featured at GTC'16 NVIDIA keynote! The work also gets featured on Science magazine, Discovery Channel, BBC and more!
  • 2015.06.01 - Our RSS'15 paper receives Best Paper Award finalist!
  • 2014.11.21 - My SNSF-ERC Starting Grant (1.5 million EUR for 5 years) has been accepted!
  • 2014.11.01 - I am Associate Editor for the IEEE Transactions of Robotics
  • 2014.11.01 - I have two open PhD positions in Robot Vision and Control. Check here
  • 2014.09.01 - The paper of the EU project SFLY (Swarm of Micro Flying Robots), which I coordinated until 2012, is finally out and gained the front page of the IEEE Robotics & Automation Magazine's September issue. Download paper.
  • 2014.06.04 - I received IEEE Robotics and Automation Society Early Career Award for my "major contributions to robot vision and visually-guided micro aerial vehicles".
  • 2014.06.04 - My PhD students won the 2014 KUKA Innovation Award at Automatica! Check video!
  • 2014.05.30 - My research work on event-based computer vision was featured in the MIT News. For more details, see the ICRA'14 paper.
  • 2014.02.01 - I received a Google Research Award!
  • 2013.01.01 - Check the PAMI paper of Andrea Censi and myself on Calibration by Correlation using Metric Embedding from Non-metric Similarities!
  • 2012.10.25 - Check out my TEDx talk on Vision-controlled Micro Flying Robots (English) or the documentary about my research made for the ARTE TV Channel (German)!
  • 2012.02.01 - Check out my two-part tutorial on Visual Odometry for the IEEE Robotics and Automation Magazine.
  • 2011.04.01 - Check out my book Introduction to Autonomous Mobile Robots, 2nd Edition, MIT Press!


RPG members


Davide Scaramuzza (1980, Italian) is Assistant Professor of Robotics at the University of Zurich. He is founder and director of the Robotics and Perception Group, where he does cutting-edge research on low-latency computer vision applied to the autonomous navigation of visually-guided ground and micro flying robots. He received his PhD (2008) in Robotics and Computer Vision at ETH Zurich (with Roland Siegwart). He was Postdoc at both ETH Zurich and the University of Pennsylvania (with Vijay Kumar and Kostas Daniilidis).

From 2009 to 2012, he led the European project SFLY (Swarm of Micro Flying Robots), which introduced the world's first autonomous navigation of micro quadrotors in GPS-denied environments using vision as the main sensor modality. For his research contributions, he was awarded the IEEE Robotics and Automation Early Career Award (2014), the ERC Starting Grant (2014, through the SNSF), a Google Research Award (2014), the European Young Researcher Award (2012), and the Robotdalen Scientific Award (2009). He is coauthor of the 2nd edition of the book "Introduction to Autonomous Mobile Robots" (MIT Press). He is author of the first open-source Omnidirectional Camera Calibration Toolbox for MATLAB, which, besides accomplishing thousands of downloads worldwide, is also used at NASA, Philips, Bosch, and Daimler. He is also author of the 1-point RANSAC algorithm, an effective and computationally efficient reduction of the standard 5-point RANSAC for visual odometry, when vehicle motion is non-holonomic.

Finally, he is author of several top-ranked robotics and computer vision journals and Associate Editor for the IEEE Transactions of Robotics. His research interests are field and service robotics, intelligent vehicles, and computer vision. Specifically, he investigates the use of cameras as the main sensors for robot navigation, mapping, exploration, reasoning, and interpretation. His interests encompass both ground and flying vehicles.


I was the main author of this second edition to which I dedicated a full year of intense writing and literature research. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners in their Master or PhD programs.

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

Select Publications

For a full list of publications, see here or Google Scholar.


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

Perception-aware Path Planning

IEEE Transactions on Robotics, conditionally accepted, 2016.



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

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

IEEE Transactions on Robotics, conditionally accepted, 2016.

Arxiv paper (not final version) YouTube


A. Giusti, J. Guzzi, D.C. Ciresan, F. He, J.P. Rodr�guez, 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), pages 661 - 667, 2016

Nominated for AAAI Best Video Award!

PDF Project Webpage and Datasets DOI YouTube


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, 2015.

PDF YouTube Dataset


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 YouTube


C. Forster, M. Pizzoli, D. Scaramuzza

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

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



A. Censi, D. Scaramuzza,

Low-Latency Event-Based Visual Odometry

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



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 YouTube Software


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 YouTube


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.



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 Supplementary Material Datasets and Source Code


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.



D. Scaramuzza, F. Fraundorfer

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

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



F. Fraundorfer, D. Scaramuzza

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

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



In my free time, I like playing piano and magic tricks. My passion for Magic was born at age 14. I paid my undegraduate studies working part-time as magician in restaurants, bars, and children parties, but I also did several performances on stage in public squares and theatres. Nowadays, I still play magic tricks for colleagues and friends and it has almost become a tradition during the social banquets of robotics conferences (usually ICRA and IROS) ;-) Below, you can see one of my latest show during the Scientifica Science Festival at ETH Zurich. If you would like to see more, you can check out my personal YouTube channel! But notice that, if you are looking for robot videos, then you should check out my lab's YouTube channel! Here, you can read my interview from NCCR Robotics about my hobby and how I decided to follow the academic career (LINK)!

Davide Scaramuzza