Davide Scaramuzza

Professor and Director of the Robotics and Perception Group


Biography


Davide Scaramuzza

Davide Scaramuzza (born in 1980, Italian) is Professor of Robotics and Perception at both departments of Informatics (University of Zurich) and Neuroinformatics (University of Zurich and ETH Zurich), where he does research at the intersection of robotics, computer vision, and neuroscience. Specifically he investigates the use of standard and neuromorphic cameras to enable autonomous, agile, navigation of micro drones in search-and-rescue scenarios.

He did his PhD in robotics and computer vision at ETH Zurich (with Roland Siegwart) and a postdoc at the University of Pennsylvania (with Vijay Kumar and Kostas Daniilidis). From 2009 to 2012, he led the European project sFly, which introduced the PX4 autopilot and pioneered visual-SLAM-based autonomous navigation of micro drones.

For his research contributions in vision-based navigation with standard and neuromorphic cameras, he was awarded the IEEE Robotics and Automation Society Early Career Award, the SNSF-ERC Starting Grant, a Google Research Award, KUKA, Qualcomm, and Intel awards, the European Young Research Award, the Misha Mahowald Neuromorphic Engineering Award, and several conference paper awards.

He coauthored the book "Introduction to Autonomous Mobile Robots" (published by MIT Press; 10,000 copies sold) and more than 100 papers on robotics and perception published in top-ranked journals (TRO, PAMI, IJCV, IJRR) and conferences (RSS, ICRA, CVPR, ICCV).

In 2015, he cofounded a venture, called Zurich-Eye, dedicated to the commercialization of visual-inertial navigation solutions for mobile robots, which later became Facebook-Oculus Switzerland and Oculus' European research hub. He was also the strategic advisor of Dacuda, an ETH spinoff dedicated to inside-out VR solutions, which later became Magic Leap Zurich.


Contributions

Davide Scaramuzza is most known for:

  • (1) pioneering event-camera-based state estimation in mobile robotics. 2014, 2017. Link to the research page.
  • (2) pioneering visual-inertial-SLAM-based autonomous navigation of micro drones. ICRA'10 paper.
  • (3) inventing the 1-point RANSAC algorithm, an effective and computationally efficient (1000 times faster) reduction of the standard 5-point RANSAC for visual odometry, when the vehicle motion is non-holonomic. IJCV'11 paper.
  • (4) writing the open-source Omnidirectional Camera Calibration Toolbox for MATLAB (OCamCalib), which is also used at NASA, Philips, Bosch, and Daimler. LINK.



Awards


RPG members

  • 2017.09.27 - IROS 2017 Autonomous Drone Race 2nd place winner
  • 2017.09.27 - IROS 2017 Safety Security and Rescue Robotics Paper Award finalist
  • 2017.07.01 - Intel Network of Intelligent System Award (170k USD)
  • 2017.06.01 - RSS' 17 Best Student Paper Award Finalist
  • 2017.06.01 - Misha Mahowald Prize for Neuromorphic Engineering, for our "pathbreaking applications of neuromorphic engineering to robot navigation"
  • 2017.03.01 - EU Robotics Transfer Award to Fotokite
  • 2016.05.12 - Qualcomm Innovation Fellowship for Elias Mueggler (40k Euros)
  • 2016.10.01 - IROS'16 Best Application Paper Finalist
  • 2016.09.20 - BMVC'16 Best Industry Paper Award
  • 2016.03.30 - AAAI Video Award nomination
  • 2015.06.01 - RSS'15 Best Paper Award finalist!
  • 2014.11.21 - SNSF-ERC Starting Grant (1.5 million EUR for 5 years)
  • 2014.06.01 - IEEE Robotics and Automation Society Early Career Award for my "major contributions to robot vision and visually-guided micro aerial vehicles".
  • 2014.06.01 - KUKA Innovation Award (20,000 EUR)
  • 2014.04.01 - Google Research Award
  • 2012.06.01 - European Young Researcher Award 2012 - Sponsored by EU and Euroscience
  • 2010.03.30 - Finalist of the George Giralt EURON PhD award (for the best European PhD thesis)
  • 2009.09.09 - ROBOTDALEN Scientific Award for my PhD thesis. Sponsored by EU, IEEE, ABB.
  • 2009.09.09 - European Micro Aerial Vehicle competition.
  • 2005.04.01 - FEDERCOMIN-AICA Master thesis Award (best Italian Master thesis in ICT).
  • 2004.07.02 - Best student of the year Award (800 EUR), Ternana Opera Educatrice, Terni, Italy.
  • 1998.06.01 - Finalist at the Italian Mathematical Olympiads, Cesenatico, Italy


Book


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.


Arxiv17_Rosinol

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

Hybrid, Frame and Event based Visual Inertial Odometry for Robust, Autonomous Navigation of Quadrotors

arXiv, 2017

PDF YouTube


BMVC17_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 YouTube


IROS17_Cieslewski

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.

IROS'17 Best Search and Rescue Robotics Paper Award Finalist!

PDF 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.

RSS'17 Best Student Paper Award Finalist! Oral Presentation.

PDF YouTube


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

PDF YouTube Software


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 of longer paper version (Technical report) YouTube


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


ICRA17_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 YouTube


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, no. 1, pp. 1-21, Feb. 2017.

RSS'15 Best Paper Award Finalist! Oral Presentation: Acceptance Rate 4%

PDF YouTube


Low-Latency Visual Odometry using Event-based Feature Tracks

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.

IROS'16 Best Application Paper Award Finalist! Highlight Talk: Acceptance Rate 2.5%

PDF YouTube


EMVS paper

H. Rebecq, G. Gallego, D. Scaramuzza

EMVS: Event-based Multi-View Stereo

British Machine Vision Conference (BMVC), York, 2016.

BMVC'16 Best Industry Paper Paper Award! Oral Talk: Acceptance Rate 7%

PDF YouTube


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

AAAI'16 Best Video Award finalist!

PDF Project Webpage and Datasets DOI YouTube


JFR2015_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, 2015.

PDF YouTube Dataset


ICRA2015_Faessler

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


RSS2014_Forster

C. Forster, M. Pizzoli, D. Scaramuzza

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

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

PDF


ICRA2014_Censi

A. Censi, D. Scaramuzza,

Low-Latency Event-Based Visual Odometry

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

PDF


ICRA2014_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 YouTube Software


ICRA2014_Pizzoli

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


RAS2014_Scaramuzza

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


PAMI2013_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 Supplementary Material Datasets and Source Code


IROS2013_Majdik

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


IROS2013_Majdik

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



Contact


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 out open positions here. Unsolicited applications will not be considered and will not be answered.
  • If you are a Bachelor or Master student from India seeking an internship in my lab please notice that I receive 1,000 internship requests per year from your country, which makes it impossible for me to read; 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 which is relevant to my research (with proven experience of relevant work in the area), related work, and a timeline.
  • If you are a PhD or Postdoc researcher interested in spending a visiting period in mylab, feel free to contact me.

Hobbies


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