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, exchanging as little data as possible.

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.

See also this very brief overview and highlight reel with the most recent results, as shown to the students of our class (December 2019).

Publications

Best Systems Paper Award!

PDF YouTube

T. Cieslewski, A. Ziegler, D. Scaramuzza

Exploration Without Global Consistency Using Local Volume Consolidation

IFRR International Symposium on Robotics Research (ISRR), Hanoi, 2019.

PDF YouTube

T. Cieslewski, K. G. Derpanis, D. Scaramuzza

SIPs: Succinct Interest Points from Unsupervised Inlierness Probability Learning

IEEE International Conference on 3D Vision (3DV), 2019.

PDF Poster YouTube Code and Data

T. Cieslewski, M. Bloesch, D. Scaramuzza

Matching Features without Descriptors:
Implicitly Matched Interest Points

British Machine Vision Conference (BMVC), Cardiff, 2019.

PDF Poster Code and Data

J. Delmerico, T. Cieslewski, H. Rebecq, M. Faessler, D. Scaramuzza

Are We Ready for Autonomous Drone Racing? The UZH-FPV Drone Racing Dataset

IEEE International Conference on Robotics and Automation (ICRA), 2019.

PDF YouTube Project Webpage and Datasets Code

H. Moon, J. Martinez-Carranza, T. Cieslewski, M. Faessler, D. Falanga, A. Simovic, D. Scaramuzza, S. Li, M. Ozo, C. De Wagter, G. de Croon, S. Hwang, S. Jung, H. Shim, H. Kim, M. Park, T. C. Au, S. J. Kim

Challenges and implemented technologies used in autonomous drone racing

Springer: Intelligent Service Robotics Series

PDF

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

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

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

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

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

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

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

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

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

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

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

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