Titus Cieslewski

MSc EPF Lausanne

Robotics and Perception Group

Department of Informatics

University of Zurich

Email: titus (at) ifi (dot) uzh (dot) ch

Office: Andreasstrasse 15, AND 2.12

I am a Ph.D. student at the Robotics and Perception Group led by Prof. Davide Scaramuzza since January 2016. Currently, I am working on multi-agent SLAM and place recognition. I received my Bachelor's and my Master's degree in Microengineering from EPFL in 2012 and 2014, respectively. During my Bachelor's degree, I spent an exchange year at Carnegie Mellon University, Pittsburgh, USA. I did my Master Thesis at the Autonomous Systems Lab at ETH Zurich, where I spent one year as research assistant afterwards.



Research Interests


Multi-agent SLAM

I am interested in how multiple robots can collaboratively build a map in an unknown 3d environment. In particular, my research is on how this can be achieved in a decentralized manner.

Place Recognition

Place Recognition is an essential part of multi-agent SLAM. It allows the different robots involved in multi-agent SLAM to localize themselves with respect to the maps created by the other robots, thus enabling multi-robot loop closure, and the creation of a globally consistent map. Beside its use in multi-agent SLAM, I am interested in making visual place recognition robust to changes in appearance.

Publications


All publications are also on my Researchgate profile.
SIPS

T. Cieslewski, D. Scaramuzza

SIPS: Unsupervised Succinct Interest Points

 

arXiv (May 2018)


ICRA18_Cieslewski

T. Cieslewski, S. Choudhary, D. Scaramuzza

Data-Efficient Decentralized Visual SLAM

IEEE International Conference on Robotics and Automation (ICRA), 2018.

PDF ICRA18 Video Pitch PPT Code and Data


MRS17_Cieslewski

T. Cieslewski, D. Scaramuzza

Efficient Decentralized Visual Place Recognition From Full-Image Descriptors

IEEE MRS 2017: the 1st International Symposium on Multi-Robot and Multi-Agent Systems

PDF PPT


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 PPT


BMVC17_Ye

Y. Ye, T. Cieslewski, A. Loquercio, D. Scaramuzza

Place Recognition in Semi-Dense Maps: Geometric and Learning-Based Approaches

British Machine Vision Conference (BMVC), London, 2017.

PDF Poster


ICRA17_Gassner

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 YouTube PPT Poster


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 ICRA workshop presentation


IROS16_Gawel

A. Gawel, T. Cieslewski, R. Dubé, M. Bosse, R. Siegwart, J. I. Nieto

Structure-based Vision-Laser Matching

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016.

PDF


IROS16_Quraishi

A. Quraishi, T. Cieslewski, S. Lynen, R. Siegwart

Robustness to Connectivity Loss for Collaborative Mapping

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016.

PDF


ICRA16_Cieslewski

T. Cieslewski, E. Stumm, A. Gawel, M. Bosse, S. Lynen, R. Siegwart

Point Cloud Descriptors for Place Recognition using Sparse Visual Information

IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016.

PDF


ICRA15_Dymczyk

M. Dymczyk, S. Lynen, T. Cieslewski, M. Bosse, R. Siegwart, P. Furgale

The Gist of Maps - Summarizing Experience for Lifelong Localization

IEEE International Conference on Robotics and Automation (ICRA), Seattle, 2015.

ResearchGate


ICRA15_Cieslewski

T. Cieslewski, S. Lynen, M. Dymczyk, S. Magnenat, R. Siegwart

Map API - Scalable Decentralized Map Building for Robots

IEEE International Conference on Robotics and Automation (ICRA), Seattle, 2015.

PDF


ALIFE14_Auerbach

J. Auerbach, D. Aydin, A. Maesani, P. M. Kornatowski, T. Cieslewski, G. Heitz, P. Fernando, I. Loschilov, L. Daler, D. Floreano

RoboGen: Robot Generation through Artificial Evolution

International Conference on the Synthesis and Simulation of Living Systems (ALIFE), 2014.

ResearchGate