Book

AMRbook

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


Peer-Reviewed Papers


2017

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


IJRR_Majdik

A.L. Majdik, C. Till, D. Scaramuzza

The Zurich Urban Micro Aerial Vehicle Dataset

International Journal of Robotics Research, April 2017

PDF YouTube Dataset


Continuous-Time Visual-Inertial Trajectory Estimation with Event Cameras

E. Mueggler, G. Gallego, H. Rebecq, D. Scaramuzza

Continuous-Time Visual-Inertial Trajectory Estimation with Event Cameras

(Under review)

PDF (arXiv)


ICRA17_Zhang

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.

PDF YouTube


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


RAL17_Mancini

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.

PDF YouTube Dataset and Unreal-Engine 3D models


RAL16_Faessler

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.

PDF 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


RAL16_Delmerico

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.

PDF YouTube


RAL16_EVO

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.

PDF YouTube


RAL16_Gallego

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.

PDF YouTube


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


TRO17_Forster-SVO

Christian Forster, Zichao Zhang, Michael Gassner, Manuel Werlberger, Davide Scaramuzza

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.

PDF YouTube


IJRR_Mueggler

E. Mueggler, H. Rebecq, G. Gallego, T. Delbruck, D. Scaramuzza

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.

PDF (arXiv) YouTube Dataset


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.

PDF YouTube


RAL16_kaiser

J. Kaiser, A Martinelli, F. Fontana, D. Scaramuzza

Simultaneous State Initialization and Gyroscope Bias Calibration in Visual Inertial Aided Navigation

IEEE Robotics and Automation Letters (RA-L), Vol. 2, Issue 1, pp. 18-25, Jan. 2017.

PDF DOI


CVVT17book

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.

PDF DOI



2016

SLAM position paper

C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I.D. Reid, J.J. Leonard

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age

IEEE Transactions on Robotics, Vol. 32, Issue 6, pp. 1309-1332, Dec. 2016.

PDF


Collaborative Localization

R. Kaeslin, P. Fankhauser, E. Stumm, Z. Taylor, E. Mueggler, J. Delmerico, D. Scaramuzza, R. Siegwart, M. Hutter

Collaborative Localization of Aerial and Ground Robots through Elevation Maps

International Symposium on Safety, Security, and Rescue Robotics (SSRR), Lausanne, 2016.

PDF


EMVS paper

H. Rebecq, G. Gallego, D. Scaramuzza

EMVS: Event-based Multi-View Stereo

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

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

PDF YouTube


Pose tracking with an Event Camera

G. Gallego, Jon E. A. Lund, E. Mueggler, H. Rebecq, T. Delbruck, D. Scaramuzza

Event-based, 6-DOF Camera Tracking for High-Speed Applications

(Under review)

PDF (arXiv) YouTube


On-the-spot training

J. Delmerico, A. Giusti, E. Mueggler, L.M. Gambardella, D. Scaramuzza

"On-the-spot Training" for Terrain Classification in Autonomous Air-Ground Collaborative Teams

International Symposium on Experimental Robotics (ISER), Tokyo, 2016.

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.

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

PDF YouTube


Feature Detection and Tracking with the Dynamic and Active-pixel Vision Sensor (DAVIS)

D. Tedaldi, G. Gallego, E. Mueggler, D. Scaramuzza

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.

PDF YouTube


ELiSeD

C. Braendli, J. Strubel, S. Keller, D. Scaramuzza, T. Delbruck

ELiSeD - An Event-Based Line Segment Detector

International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP), Krakow, 2016.

PDF


TRO16_costante

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

Perception-aware Path Planning

IEEE Transactions on Robotics, conditionally accepted, 2016.

PDF


JFR2016_Faessler

M. Faessler, F. Fontana, C. Forster, E. Mueggler, M. Pizzoli, D. Scaramuzza

Autonomous, Vision-based Flight and Live Dense 3D Mapping with a Quadrotor Micro Aerial Vehicle

Journal of Field Robotics, 2016.

PDF YouTube1 YouTube2 YouTube3 YouTube4 Software


TRO16_sabzevari

R. Sabzevari, D. Scaramuzza

Multi-body Motion Estimation from Monocular Vehicle-Mounted Cameras

IEEE Transactions on Robotics, Vol. 32, Issue 3, pp. 638-651, Jun. 2016.

PDF YouTube


ICRA16_Isler

S. Isler, R. Sabzevari, J. Delmerico, D. Scaramuzza

An Information Gain Formulation for Active Volumetric 3D Reconstruction

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

PDF YouTube Software


ICRA16_Zhang

Z. Zhang, H. Rebecq, C. Forster, D. Scaramuzza

Benefit of Large Field-of-View Cameras for Visual Odometry

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

PDF YouTube Research page (datasets and software)


RAL16_Giusti

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), Vol. 1, Issue 2, pp. 661-667, Jul. 2016

Nominated for AAAI Best Video Award!

PDF Project Webpage and Datasets DOI YouTube



2015

RSS2015_Forster

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

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%

PDF YouTube


ECMR2015_Mueggler

E. Mueggler, N. Baumli, F. Fontana, D. Scaramuzza

Towards Evasive Maneuvers with Quadrotors using Dynamic Vision Sensors

European Conference on Mobile Robots (ECMR), Lincoln, 2015.

PDF


RSS2015_Mueggler

E. Mueggler, G. Gallego, D. Scaramuzza

Continuous-Time Trajectory Estimation for Event-based Vision Sensors

Robotics: Science and Systems (RSS), Rome, 2015.

PDF


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


ICRA2015_Forster

C. Forster, M. Faessler, F. Fontana, M. Werlberger, D. Scaramuzza

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.

PDF YouTube


ICRA2015_Mueggler

E. Mueggler, C. Forster, N. Baumli, G. Gallego, D. Scaramuzza

Lifetime Estimation of Events from Dynamic Vision Sensors

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

PDF


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, Vol. 32, Issue 7, pp. 1015-1039, Oct. 2015.

PDF YouTube Dataset


IJRR2015_Grabe

V. Grabe, H.H. Bulthoff, D. Scaramuzza, P.R. Giordano

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.

PDF


RAS2014_Troiani

C. Troiani, A. Martinelli, C. Laugier, D. Scaramuzza

Low Computational-Complexity Algorithms for Vision-aided Inertial Navigation of Micro Aerial Vehicles

Robotics and Autonomous Systems Journal, Vol. 69, pp. 80-97, 2015.

PDF



2014

SSRR2014_Mueggler

E. Mueggler, M. Faessler, F. Fontana, D. Scaramuzza

Aerial-guided Navigation of a Ground Robot among Movable Obstacles

IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Toyako-cho, 2014.

PDF YouTube Presentation at AUTOMATICA


IROS2014_Mueggler

E. Mueggler, B. Huber, D. Scaramuzza

Event-based, 6-DOF Pose Tracking for High-Speed Maneuvers

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, 2014.

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), Berkeley, 2014.

PDF


ICRA2014_Majdik

A. L. Majdik, D. Verda, Y. Albers-Schoenberg, D. Scaramuzza

Micro Air Vehicle Localization and Position Tracking from Textured 3D Cadastral Models

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

PDF


ICRA2014_Sabzevari

R. Sabzevari, D. Scaramuzza

Monocular Simultaneous Multi-Body Motion Segmentation and Reconstruction from Perspective Views

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 Code


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_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 Code


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


ICRA2014_Jiang

Y. Jiang, H. Chen, G. Xiong, D. Scaramuzza

ICP Stereo Visual Odometry for Wheeled Vehicles based on a 1DOF Motion Prior

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

PDF


ICRA2014_Troiani

C. Troiani, A. Martinelli, C. Laugier, D. Scaramuzza

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.

PDF


ICRA2014_Faessler

M. Faessler, E. Mueggler, K. Schwabe, D. Scaramuzza

A Monocular Pose Estimation System based on Infrared LEDs

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

PDF YouTube


Springer_Book

D. Scaramuzza

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.

PDF Chapter Springer Book's Website



2013

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_Forster2

C. Forster, M. Pizzoli, D. Scaramuzza

Air-Ground Localization and Map Augmentation Using Monocular Dense Reconstruction

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, 2013.

PDF PPT YouTube


IROS2013_Forster

C. Forster, S. Lynen, L. Kneip, D. Scaramuzza,

Collaborative Monocular SLAM with Multiple Micro Aerial Vehicles

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, 2013.

PDF PPT YouTube


ECMR2013_Troiani

C. Troiani, A. Martinelli, C. Laujier, D. Scaramuzza

1-Point-based Monocular Motion Estimation for Computationally-Limited Micro Aerial Vehicles

European Conference on Mobile Robotics (ECMR), Barcelona, 2013.

PDF


IROS2013_Censi

A. Censi, J. Strubel, C. Brandli, T. Delbruck, D. Scaramuzza,

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.

PDF PPT


IROS2013_Majdik

A. Majdik, Y. Albers-Schoenberg, D. Scaramuzza

MAV Urban Localization from Google Street View Data

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, 2013.

PDF PPT YouTube Air-ground Image Dataset


ICRA2013_Forster

C. Forster, D. Sabatta, R. Siegwart, D. Scaramuzza

RFID-Based Hybrid Metric-Topological SLAM for GPS-denied Environments.

IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, 2013.

PDF



2012

IROS2013_Majdik

N. Michael, D. Scaramuzza, V. Kumar

Special issue on micro-UAV perception and control

Autonomous Robots, Volume 33, Issue 1-2, pages 173-188, 2012.

PDF


IROS2013_Majdik

L. Doitsidis, S. Weiss, A. Renzaglia, M.W. Achtelik, E. Kosmatopoulos, R. Siegwart, D. Scaramuzza

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.

PDF


IROS2013_Majdik

R. Anati, D. Scaramuzza, K. Derpanis, K. Daniilidis

Robot Localization Using Soft Object Detection

IEEE International Conference on Robotics and Automation (ICRA), St. Paul, 2012.

PDF


IROS2013_Majdik

F. Fraundorfer, D. Scaramuzza

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

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

PDF



2011

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


IROS2013_Majdik

D. Scaramuzza

Performance Evaluation of 1-Point-RANSAC Visual Odometry

Journal of Field Robotics, Volume 28, issue 5, 2011.

PDF


IROS2013_Majdik

S. Weiss, D. Scaramuzza, R. Siegwart

Monocular-SLAM-Based Navigation for Autonomous Micro Helicopters in GPS-denied Environments

Journal of Field Robotics, Volume 28, issue 6, 2011.

PDF


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

S. Weiss, M. Achtelik, L. Kneip, D. Scaramuzza, R. Siegwart

Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance

Journal of Intelligent and Robotic Systems, Springer, Volume 61, Issue 1-4, January, 2011.

PDF


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 ]
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 ]
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 ]
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 ]
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 ] [C/C++ code]
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 ]

2010

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 ]
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 ]
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 ]
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 ]
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 ]
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 ]
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 ]
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 ]
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 ]
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 ]

2009

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 ]
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 ]
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 ]
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 ]

2008

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 ]
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 ]
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 ]
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 ]
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 ]

2007

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 ]
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 ]

2006

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 ]
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 ]
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 ]

2005

D. Scaramuzza, M. Vetterli. Sparse Codes for Natural Images. Technical Report, Ecole Polytechnique Federal de Lausanne, EPFL, Lausanne, Switzerland, October 2005. [ PDF ]
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 ]
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 ]

2004

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  Italian only]