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


Patents

Event-SLAM patent

H. Rebecq, G. Gallego, D. Scaramuzza

Simultaneous Localization and Mapping with an Event Camera

Pub. No.: US20190197715A1

PDF


Event-SLAM patent

H. Rebecq, T. Horstschaefer, D. Scaramuzza

Visual Inertial Odometry with an Event Camera

Pub. No.: EP3451288A1

PDF


Peer-Reviewed Papers


2024

SLAM for Visually Impaired People: A Survey

Marziyeh Bamdad, Davide Scaramuzza, Alireza Darvishy

SLAM for Visually Impaired People: A Survey

IEEE Access, 2024.

PDF


Wearable robots for the real world need vision

Letizia Gionfrida, Daekyum Kim, Davide Scaramuzza, Dario Farina, Robert D. Howe

Wearable robots for the real world need vision

Science Robotics, 2024.

PDF


Hilti SLAM Challenge 2023: Benchmarking Single + Multi-session SLAM across Sensor Constellations in Construction

Ashish Devadas Nair, Julien Kindle, Plamen Levchev, Davide Scaramuzza

Hilti SLAM Challenge 2023: Benchmarking Single + Multi-session SLAM across Sensor Constellations in Construction

IEEE Robotics and Automation Letters, Vol. 9, Issue 8, 2024.

PDF Dataset


Xing

Jiaxu Xing, Angel Romero, Leonard Bauersfeld, Davide Scaramuzza

Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight

Conference on Robot Learning (CoRL), 2024

PDF Video Website


CoRL24_Bhattacharya

Anish Bhattacharya, Marco Cannici, Nishanth Rao, Yuezhan Tao, Vijay Kumar, Nikolai Matni, Davide Scaramuzza

Monocular Event-Based Vision for Obstacle Avoidance with a Quadrotor

Conference on Robot Learning (CoRL), 2024

PDF Video Project page


Arxiv24_Bauersfeld

Yunlong Song, Sangbae Kim, Davide Scaramuzza

Learning Quadruped Locomotion Using Differentiable Simulation

Conference on Robot Learning (CoRL), 2024

Oral Presentation.

PDF Video


ironcub

Giuseppe L'Erario, Drew Hanover, Angel Romero, Yunlong Song, Gabriele Nava, Paolo Maria Viceconte, Daniele Pucci, Davide Scaramuzza

Learning to Walk and Fly with Adversarial Motion Priors

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

PDF Video


S7: Selective and Simplified State Space Layers for Sequence Modeling

Taylan Soydan*, Nikola Zubić*, Nico Messikommer, Siddhartha Mishra, Davide Scaramuzza

S7: Selective and Simplified State Space Layers for Sequence Modeling

Arxiv, 2024.

PDF


IROS24_Pellerito

Roberto Pellerito, Marco Cannici, Daniel Gehrig, Joris Belhadj, Olivier Dubois-Matra, Massimo Casasco, Davide Scaramuzza

Deep Visual Odometry with Events and Frames

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

PDF Code and Data Video


IROS24_Alberico

Ivan Alberico, Jeff Delaune, Giovanni Cioffi, Davide Scaramuzza

Structure-Invariant Range-Visual-Inertial Odometry

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

PDF Video


ECCV24_Messikommer

Nico Messikommer*, Giovanni Cioffi*, Mathias Gehrig, Davide Scaramuzza

Reinforcement Learning Meets Visual Odometry

European Conference on Computer Vision (ECCV), 2024.

PDF Video Code


RSS24_AgileFlight_Geles

Ismail Geles*, Leonard Bauersfeld*, Angel Romero, Jiaxu Xing, Davide Scaramuzza

Demonstrating Agile Flight from Pixels without State Estimation

Robotics: Science and Systems (RSS), 2024.

Best Demo Paper Award!

PDF Video


RSS24_KrinnerRomero

Maria Krinner*, Angel Romero*, Leonard Bauersfeld, Melanie Zeilinger, Andrea Carron, Davide Scaramuzza

MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints

Robotics: Science and Systems (RSS), 2024.

PDF Video


Low Latency Automotive Vision with Event Cameras

Daniel Gehrig, Davide Scaramuzza

Low Latency Automotive Vision with Event Cameras

Nature, 2024.

PDF Open Access Code Dataset Dataset Helper Tools YouTube


Limits of Deep Learning: Sequence Modeling through the Lens of Complexity Theory

Nikola Zubić, Federico Soldá, Aurelio Sulser, Davide Scaramuzza

Limits of Deep Learning: Sequence Modeling through the Lens of Complexity Theory

Arxiv, 2024.

PDF


Autonomous Drone Racing: A Survey

Drew Hanover, Antonio Loquercio, Leonard Bauersfeld, Angel Romero, Robert Penicka, Yunlong Song, Giovanni Cioffi, Elia Kaufmann, Davide Scaramuzza

Autonomous Drone Racing: A Survey

IEEE Transactions on Robotics (T-RO), 2024.

PDF


Arxiv24_Messikommer

Nico Messikommer, Carter Fang, Mathias Gehrig, Giovanni Cioffi, Davide Scaramuzza

Data-driven Feature Tracking for Event Cameras with and without Frames

arXiv, 2024

PDF Code


A Hybrid ANN-SNN Architecture for Low-Power and Low-Latency Visual Perception

Asude Aydin, Mathias Gehrig, Daniel Gehrig, Davide Scaramuzza

A Hybrid ANN-SNN Architecture for Low-Power and Low-Latency Visual Perception

IEEE Conference on Computer Vision and Pattern Recognition Workshops(CVPRW), 2024.

Winner of the University of Zurich Best Master Thesis Award.

PDF Code


Arxiv24_Muglikar

Manasi Muglikar, Siddharth Somasundaram, Akshat Dave, Edoardo Charbon, Ramesh Raskar, Davide Scaramuzza

Event Cameras Meet SPADs for High-Speed, Low-Bandwidth Imaging

arXiv, 2024

PDF


State Space Models for Event Cameras

Nikola Zubić, Mathias Gehrig, Davide Scaramuzza

State Space Models for Event Cameras

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Seattle, 2024.

Spotlight Presentation.

PDF Code Video


An N-Point Linear Solver for Line and Motion Estimation with Event Cameras

Ling Gao, Daniel Gehrig, Hang Su, Davide Scaramuzza, Laurent Kneip

An N-Point Linear Solver for Line and Motion Estimation with Event Cameras

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Seattle, 2024.

Oral Presentation.

PDF Project Page


CVPR24_Cannici

Marco Cannici, Davide Scaramuzza

Mitigating Motion Blur in Neural Radiance Fields with Events and Frames

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Seattle, 2024.

PDF Code and Dataset Video


Arxiv24_Bauersfeld

Leonard Bauersfeld, Koen Mueller, Dominic Ziegler, Filippo Coletti, Davide Scaramuzza

Robotics meets Fluid Dynamics: A Characterization of the Induced Airflow around a Quadrotor

arXiv, 2024

PDF


ICRA24_Romero

Angel Romero, Yunlong Song, Davide Scaramuzza

Actor-Critic Model Predictive Control

IEEE International Conference on Robotics and Automation (ICRA), Yokohama, 2024.

PDF YouTube ICRA 2024 Talk


ICRA24_Xing

Jiaxu Xing*, Leonard Bauersfeld*, Yunlong Song, Chunwei Xing, Davide Scaramuzza

Contrastive Learning for Enhancing Robust Scene Transfer in Vision-based Agile Flight

IEEE International Conference on Robotics and Automation (ICRA), Yokohama, 2024.

PDF YouTube


ICRA24_Messikommer

Nico Messikommer, Yunlong Song, Davide Scaramuzza

Contrastive Initial State Buffer for Reinforcement Learning

IEEE International Conference on Robotics and Automation (ICRA), Yokohama, 2024.

PDF YouTube Code


Dense Continuous-Time Optical Flow from Events and Frames

Mathias Gehrig, Manasi Muglikar, Davide Scaramuzza

Dense Continuous-Time Optical Flow from Events and Frames

IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2024.

PDF Code and Dataset


Aerialcore

A. Ollero, A. Suarez, C. Papaioannidis, I. Pitas, J.M. Marredo, V. Duong, E. Ebeid, V. Kratky, M. Saska, C. Hanoune, A. Afifi, A. Franchi, C. Vourtsis, D. Floreano, G. Vasiljevic, S. Bogdan, A. Caballero, F. Ruggiero, V. Lippiello, C. Matilla, G. Cioffi, D. Scaramuzza, J.R. Martinez-de Dios, B.C. Arrue, C. Martin, K. Zurad, C. Gaitan, J. Rodriguez, A. Munoz, A. Viguria

AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures

Arxiv, 2024.

PDF Video


2023

E-Calib: A Fast, Robust and Accurate Calibration Toolbox for Event Cameras

Mohammed Salah, Abdulla Ayyad, Muhammad Humais, Daniel Gehrig, Abdelqader Abusafieh, Lakmal Seneviratne, Davide Scaramuzza, Yahya Zweiri

E-Calib: A Fast, Robust and Accurate Calibration Toolbox for Event Cameras

IEEE Transctions on Image Processing, 2023.

PDF Video Code


Learning Agile, Vision-Based Drone Flight: From Simulation to Reality

Davide Scaramuzza, Elia Kaufmann

Learning Agile, Vision-Based Drone Flight: From Simulation to Reality

Robotics Research, 2023.

PDF


Seeing behind Occlusions with Event Cameras

Rong Zou, Manasi Muglikar, Nico Messikommer, Davide Scaramuzza

Seeing behind occlusions with event cameras

Arxiv, 2023.

PDF


ICCV23_Gao

Ling Gao, Hang Su, Daniel Gehrig, Marco Cannici, Davide Scaramuzza, Laurent Kneip

A 5-Point Minimal Solver for Event Camera Relative Motion Estimation

IEEE/CVF International Conference on Computer Vision (ICCV), 2023.

Oral Presentation.

PDF Video Poster Project Page


RL VS MPC

Yunlong Song, Angel Romero, Matthias Müller, Vladlen Koltun, Davide Scaramuzza

Reaching the Limit in Autonomous Racing: Optimal Control vs. Reinforcement Learning

Science Robotics, 2023

PDF YouTube


Champion-level Drone Racing using Deep Reinforcement Learning

Elia Kaufmann, Leonard Bauersfeld, Antonio Loquercio, Matthias Müller, Vladlen Koltun, Davide Scaramuzza

Champion-level Drone Racing using Deep Reinforcement Learning

Nature, 2023

PDF YouTube (Ours) YouTube (Nature) Dataset


Real-time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms

Tim Salzmann, Elia Kaufmann, Jon Arrizabalaga, Marco Pavone, Davide Scaramuzza, Markus Ryll

Real-time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms

IEEE Robotics and Automation Letters (RA-L), 2023.

PDF Code


From Chaos Comes Order: Ordering Event Representations for Object Recognition and Detection

Nikola Zubić, Daniel Gehrig, Mathias Gehrig, Davide Scaramuzza

From Chaos Comes Order: Ordering Event Representations for Object Recognition and Detection

IEEE/CVF International Conference on Computer Vision (ICCV), 2023

PDF Code


Autonomous Power Line Inspection with Drones via Perception-Aware MPC

J.Xing*, G. Cioffi*, J. Hidalgo-Carrió, D. Scaramuzza

Autonomous Power Line Inspection with Drones via Perception-Aware MPC

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

Best Paper Award!

PDF YouTube Code


iros23

Jiawei Fu, Yunlong Song, Yan Wu, Fisher Yu, Davide Scaramuzza

Learning Deep Sensorimotor Policies for Vision-based Autonomous Drone Racing

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

PDF YouTube


Cracking Double-Blind Review: Authorship Attribution with Deep Learning

Leonard Bauersfeld*, Angel Romero*, Manasi Muglikar, Davide Scaramuzza

Cracking Double-Blind Review: Authorship Attribution with Deep Learning

PLOS ONE, 2023.

PDF Code


Microgravity induces overconfidence in perceptual decision-making

Leyla Loued-Khenissi*, Christian Pfeiffer*, Rupal Saxena, Shivam Adarsh, Davide Scaramuzza

Microgravity induces overconfidence in perceptual decision-making

Nature Scientific Reports, 2023.

PDF YouTube Dataset


HDVIO

G. Cioffi*, L. Bauersfeld*, D. Scaramuzza

HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO

Robotics: Science and Systems (RSS), 2023.

PDF YouTube


Revisiting Token Pruning for Object Detection and Instance Segmentation

Y. Liu, M. Gehrig, N. Messikommer, M. Cannici, D. Scaramuzza

Revisiting Token Pruning for Object Detection and Instance Segmentation

IEEE Winter Conference on Applications of Computer Vision (WACV), 2024.

PDF Code Video


Data-driven Feature Tracking for Event Cameras

Nico Messikommer*, Carter Fang*, Mathias Gehrig, Davide Scaramuzza

Data-driven Feature Tracking for Event Cameras

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2023.

Award Candidate.

PDF YouTube Code


Neuromorphic Optical Flow and Real-time Implementation with Event Cameras

Y. Schnider, S. Wozniak, M. Gehrig, J. Lecomte, A. v. Arnim, L. Benini, D. Scaramuzza, A. Pantazi

Neuromorphic Optical Flow and Real-time Implementation with Event Cameras

IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2023.

PDF YouTube


Recurrent Vision Transformers for Object Detection with Event Cameras

Mathias Gehrig and Davide Scaramuzza

Recurrent Vision Transformers for Object Detection with Event Cameras

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2023.

PDF YouTube Code


Event-based Shape from Polarization

Manasi Muglikar, Leonard Bauersfeld, Diederik P. Moeys, Davide Scaramuzza

Event-based Shape from Polarization

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2023.

PDF Video Code Project Page


Training Efficient Controllers via Analytic Policy Gradient

Nina Wiedemann, Valentin Wueest, Antonio Loquercio, Matthias Mueller, Dario Floreano, Davide Scaramuzza

Training Efficient Controllers via Analytic Policy Gradient

IEEE International Conference on Robotics and Automation (ICRA), London, 2023

PDF YouTube Code


Weighted Maximum Likelihood for Controller Tuning

Benedek Forrai*, Takahiro Miki*, Daniel Gehrig*, Marco Hutter, Davide Scaramuzza

Event-based Agile Object Catching with a Quadrupedal Robot

IEEE International Conference on Robotics and Automation (ICRA), London, 2023

PDF YouTube Code


Weighted Maximum Likelihood for Controller Tuning

Angel Romero*, Shreedhar Govil*, Gonca Yilmaz*, Yunlong Song, Davide Scaramuzza

Weighted Maximum Likelihood for Controller Tuning

IEEE International Conference on Robotics and Automation (ICRA), London, 2023

PDF YouTube


Learning Perception-aware agile flight in cluttered environment

Y. Song*, K. Shi*, R. Penicka, D. Scaramuzza

Learning Perception-Aware Agile Flight in Cluttered Environments

IEEE International Conference on Robotics and Automation (ICRA), London, 2023

PDF YouTube


User-Conditioned Neural Control Policies for Mobile Robotics

Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza

User-Conditioned Neural Control Policies for Mobile Robotics

IEEE International Conference on Robotics and Automation (ICRA), London, 2023

PDF YouTube


E-NeRF: Neural Radiance Fields from a Moving Event Camera

S. Klenk, L. Koestler, D. Scaramuzza, D. Cremers

E-NeRF: Neural Radiance Fields from a Moving Event Camera

IEEE Robotics and Automation Letters (RA-L), 2023.

PDF Code


Learned Inertial Odometry for Autonomous Drone Racing

G. Cioffi, L. Bauersfeld, E. Kaufmann, D. Scaramuzza

Learned Inertial Odometry for Autonomous Drone Racing

IEEE Robotics and Automation Letters (RA-L), 2023.

PDF Video IROS Presentation Code


Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping

L. Zhang, M. Helmberger, L. Fu, D. Wisth, M. Camurri, D. Scaramuzza, M. Fallon

Hilti-Oxford Dataset: A Millimeter-Accurate Benchmark for Simultaneous Localization and Mapping

IEEE Robotics and Automation Letters (RA-L), 2023.

PDF YouTube Dataset


Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight

Philipp Foehn, Elia Kaufmann, Angel Romero, Robert Penicka, Sihao Sun, Leonard Bauersfeld, Thomas Laengle, Giovanni Cioffi, Yunlong Song, Antonio Loquercio, and Davide Scaramuzza

Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight

Science Robotics, 2022.

PDF Youtube Webpage


2022

Improving safety in physical human-robot collaboration via deep metric learning

Maryam Rezayati, Grammatiki Zanni, Ying Zaoshi, Davide Scaramuzza, Hans Wernher van de Venn

Improving safety in physical human-robot collaboration via deep metric learning

IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA), 2022.

PDF


COVERED, CollabOratiVE Robot Environment Dataset for 3D Semantic segmentation

Charith Munasinghe, Fatemeh Mohammadi Amin, Davide Scaramuzza, Hans Wernher van de Venn

COVERED, CollabOratiVE Robot Environment Dataset for 3D Semantic segmentation

2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA), 2022.

PDF Dataset


Data-driven Feature Tracking for Event Cameras

Daniel Gehrig, Davide Scaramuzza

Pushing the Limits of Asynchronous Graph-based Object Detection with Event Cameras

arXiv, 2022.

PDF


ECCV22_Sun

Z. Sun*, N. Messikommer*, D. Gehrig, D. Scaramuzza

ESS: Learning Event-based Semantic Segmentation from Still Images

European Conference on Computer Vision (ECCV), Tel Aviv, 2022.

PDF Video Dataset Code


RAL22_Polizzi

V. Polizzi, R. Hewitt, J. Hidalgo-Carrió, J. Delaune and D. Scaramuzza

Data-Efficient Collaborative Decentralized Thermal-Inertial Odometry

IEEE Robotics and Automation Letters (RA-L), 2022

PDF Poster Code & Datasets Video


arxiv22_Mahlknecht

F. Mahlknecht, D. Gehrig, J. Nash, F. M. Rockenbauer, B. Morrell, J. Delaune and D. Scaramuzza

Exploring Event Camera-based Odometry for Planetary Robots

IEEE Robotics and Automation Letters (RAL), 2022

PDF Code & Datasets Video


Arxiv22_Romero_RAL_IROS

Angel Romero, Robert Penicka, Davide Scaramuzza

Time-optimal Online Replanning for Agile Quadrotor Flight

IEEE Robotics and Automation Letters (RA-L), 2022.

PDF Video IROS talk


Arxiv22_Penicka_RAL_IROS

Robert Penicka, Yunlong Song, Elia Kaufmann, Davide Scaramuzza

Learning Minimum-Time Flight in Cluttered Environments

IEEE Robotics and Automation Letters (RA-L), 2022.

PDF YouTube


Arxiv21_Sun

S. Sun, A. Romero, P. Foehn, E. Kaufmann, D. Scaramuzza

A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight

IEEE Transactions on Robotics, 2022

PDF Code YouTube


Arxiv21_HILTI

M. Helmberger, K. Morin, B. Berner, N. Kumar, G. Cioffi, D. Scaramuzza

The Hilti SLAM Challenge Dataset

Robotics and Automation Letters (RAL), 2022

PDF Dataset Video Talk


CVPR22_Tulyakov

S. Tulyakov, A. Bochicchio, D. Gehrig, S. Georgoulis, Y. Li, D. Scaramuzza

Time Lens++: Event-based Frame Interpolation with Parametric Non-linear Flow and Multi-scale Fusion

IEEE Conference of Computer Vision and Pattern Recognition (CVPR), 2022, New Orleans, USA.

PDF YouTube Dataset Project Webpage


CVPR22_Schaefer

S. Schaefer*, D. Gehrig*, D. Scaramuzza

AEGNN: Asynchronous Event-based Graph Neural Networks

IEEE Conference of Computer Vision and Pattern Recognition (CVPR), 2022, New Orleans, USA.

PDF Video CVPR22 Long Video Code Project Webpage


EDS

J. Hidalgo-Carrió, G.Gallego, D. Scaramuzza

Event-aided Direct Sparse Odometry

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

Oral Presentation.

PDF YouTube Code Poster Project Webpage CVPR Video

Arxiv21_Romero

A. Romero, S. Sun, P. Foehn, D. Scaramuzza

Model Predictive Contouring Control for Time-Optimal Quadrotor Flight

IEEE Transactions on Robotics, 2022

PDF YouTube


CVPRW22_Messikommer

N. Messikommer*, S. Georgoulis*, D. Gehrig, S. Tulyakov, J. Erbach, A. Bochicchio, Y. Li, D. Scaramuzza

Multi-Bracket High Dynamic Range Imaging with Event Cameras

IEEE Conference on Computer Vision and Pattern Recognition Workshop (CVPRW), New Orleans, 2022.

PDF YouTube


arxiv22_Gehrig

D. Gehrig, D. Scaramuzza

Are High-Resolution Event Cameras Really Needed?

arXiv, 2022.

PDF YouTube Project Webpage


TRO21_Yunlong

Y. Song, D. Scaramuzza

Policy Search for Model Predictive Control with Application for Agile Drone Flight

IEEE Transactions on Robotics (T-RO), 2022.

PDF YouTube Project Webpage Code


PlosOne22_Pfeiffer

C. Pfeiffer, S. Wengeler, A. Loquercio, D. Scaramuzza

Visual Attention Prediction Improves Performance of Autonomous Drone Racing Agents

PLOS ONE, 2022

PDF Dataset Code


RAL22_Penicka

R. Penicka, D. Scaramuzza

Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

Robotics and Automation Letters (RAL), 2022

PDF Code YouTube


ICRA22_Kaufmann

E. Kaufmann, L. Bauersfeld, D. Scaramuzza

A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight

IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, 2022

PDF YouTube


RAL2021_Cioffi

G. Cioffi, T. Cieslewski, D. Scaramuzza

Continuous-Time vs. Discrete-Time Vision-based SLAM: A Comparative Study

Robotics and Automation Letters (RAL), 2022

PDF Code YouTube


PhD Thesis Philipp Foehn

Philipp Foehn

Agile Aerial Autonomy: Planning and Control

PhD Thesis, University of Zurich, February 2022

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Moritz Diehl, Prof. Luca Carlone, Prof. Roland Siegwart.

PDF YouTube


ICRA22_Nan

F. Nan, S. Sun, P. Foehn, D. Scaramuzza

Nonlinear MPC for Quadrotor Fault-Tolerant Control

Robotics and Automation Letters (RAL), 2022

Winner of ETH Zurich Medal for Best Master Thesis in Robotics.

PDF YouTube


RAL22_Messikommer

N. Messikommer, D. Gehrig, M. Gehrig, D. Scaramuzza

Bridging the Gap between Events and Frames through Unsupervised Domain Adaptation

Robotics and Automation Letters (RAL), 2022

PDF Code YouTube


IROS21_Loquercio

A. Loquercio, A. Saviolo, D. Scaramuzza

AutoTune: Controller Tuning for High-Speed Flight

Robotics and Automation Letters (RAL), 2022

PDF Code YouTube


RAL22_Paneque

J.L. Paneque, J.R. Martinez-de Dios, A. Ollero, D. Hanover, S. Sun, A. Romero, and D. Scaramuzza

Perception-Aware Perching on Powerlines with Multirotors

Robotics and Automation Letters (RAL), 2022

PDF Code YouTube


RAL22_Bauersfeld.pdf

L. Bauersfeld, D. Scaramuzza

Range, Endurance, and Optimal Speed Estimates for Multicopters

Robotics and Automation Letters (RAL), 2022

PDF


2021

Arxiv20_Fabris

Amedeo Fabris, Kevin Kleber, Davide Falanga, Davide Scaramuzza

Geometry-aware Compensation Scheme for Morphing Drones

IEEE International Conference on Robotics and Automation (ICRA), Xi'an, 2021.

PDF YouTube


ICPR20_Kostadinov

D. Kostadinov, D. Scaramuzza

Unsupervised Feature Learning for Event Data: Direct vs Inverse Problem Formulation

IAPR IEEE/Computer Society International Conference on Pattern Recognition (ICPR), Milan, 2021.

PDF


Arxiv21_L1_Drew

D. Hanover, P. Foehn, S. Sun, E. Kaufmann, D. Scaramuzza

Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors

IEEE Robotics and Automation Letters (RA-L), 2021.

PDF YouTube


3DV21_Muglikar

M.Muglikar, G. Gallego D. Scaramuzza

ESL: Event-based Structured Light

IEEE International Conference on 3D Vision (3DV), 2021

PDF Video Code Project Page Poster


PhD20_Cieslewski

Titus Cieslewski

Decentralized Multi-Agent Visual SLAM

PhD Thesis, University of Zurich, December 2020

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Marc Pollefeys, Prof. Torsten Sattler.

PDF


PhD21_Loquercio

A. Loquercio

Learning Agile Robot Navigation

PhD Thesis, University of Zurich, July 2021

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Roland Siegwart, Prof. Angela Schoellig, Prof. Pieter Abbeel.

PDF YouTube


3DV21_Muglikar

M. Muglikar, D. Moeys, D. Scaramuzza

Event Guided Depth Sensing

IEEE International Conference on 3D Vision (3DV), 2021

PDF Video


Science21_Loquercio

A. Loquercio*, E. Kaufmann*, R. Ranftl, M. Müller, V. Koltun, D. Scaramuzza

Learning High-Speed Flight in the Wild

Science Robotics, 2021.

PDF Project Webpage and Datasets YouTube Code


Arxiv21_Pfeiffer

C. Pfeiffer, D. Scaramuzza

Expertise Affects Drone Racing Performance

Arxiv Preprint, 2021

PDF


Arxiv21_Gehrig

M. Gehrig*, M. Millhaeusler*, D. Gehrig, D. Scaramuzza

E-RAFT: Dense Optical Flow from Event Cameras

International Conference on 3D Vision (3DV), 2021.

Project Page PDF Code Dataset Benchmark Youtube


RSS20_Foehn

P. Foehn*, D. Brescianini*, E. Kaufmann*, T. Cieslewski, M. Gehrig, M. Muglikar, D. Scaramuzza

AlphaPilot: Autonomous Drone Racing

Autonomous Robots (AuRo), 2021

Best Systems Paper Award!

PDF YouTube RSS2020 Pitch Video


IROS21_Dietsche

A. Dietsche, G. Cioffi, J. Hidalgo-Carrio, D. Scaramuzza

Powerline Tracking with Event Cameras

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, 2021.

PDF Code Dataset Video IROS 2021 Video Pitch Slides


ICRA21_Vitale

A. Vitale, A. Renner, C. Nauer, D. Scaramuzza, Y. Sandamirskaya

Event-driven Vision and Control for UAVs on a Neuromorphic Chip

IEEE International Conference on Robotics and Automation (ICRA), Xi'an, 2021.

PDF YouTube Slides


Arxiv21_Yunlong

Y. Song*, M. Steinweg*, E. Kaufmann, D. Scaramuzza

Autonomous Drone Racing with Deep Reinforcement Learning

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, 2021.

PDF YouTube


Time-Optimal Quadrotor Trajectories

P. Foehn, A. Romero, D. Scaramuzza

Time-Optimal Planning for Quadrotor Waypoint Flight

Science Robotics, July 21, 2021.

PDF YouTube Code


RSS21_Bauersfeld

L. Bauersfeld*, E. Kaufmann*, P. Foehn, S. Sun, D. Scaramuzza

NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Robotics: Science and Systems (RSS), 2021.

PDF YouTube Project Page and Dataset


CVPR21_Gehrig

S. Tulyakov*, D. Gehrig*, S. Georgoulis, J. Erbach, M. Gehrig, Y. Li, D. Scaramuzza

Time Lens: Event-based Video Frame Interpolation

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Nashville, 2021.

PDF Video Code Project Page and Dataset Slides


How to Calibrate Your Event Camera

M. Muglikar*,M. Gehrig*, D. Gehrig, D. Scaramuzza

How to Calibrate Your Event Camera

IEEE Conference on Computer Vision and Pattern Recognition Workshop (CVPRW), Nashville, 2021.

PDF Video Code


ICRA21_Yunlong

Y. Song*, H. Lin*, E. Kaufmann, P. Dueer, D. Scaramuzza

Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning

International Conference on Robotics and Automation (ICRA), 2021.

PDF YouTube


RAL21_Fuchs

F. Fuchs, Y. Song, E. Kaufmann, D. Scaramuzza, P. Duerr

Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning

IEEE Robotics and Automation Letters (RA-L), 2021.

PDF YouTube


DSEC: A Stereo Event Camera Dataset for Driving Scenarios

M. Gehrig, W. Aarents, D. Gehrig, D. Scaramuzza

DSEC: A Stereo Event Camera Dataset for Driving Scenarios

IEEE Robotics and Automation Letters (RA-L), 2021.

PDF Project Page and Dataset Code Teaser ICRA 2021 Video Pitch Slides


Human-Piloted Drone Racing: Visual Processing and Control

C. Pfeiffer, D. Scaramuzza

Human-Piloted Drone Racing: Visual Processing and Control

IEEE Robotics and Automation Letters (RA-L), 2021.

PDF YouTube Slides Dataset


Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction

D. Gehrig*, M. Rüegg*, M. Gehrig, J. Hidalgo-Carrió, D. Scaramuzza

Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction

IEEE Robotics and Automation Letters (RA-L), 2021.

NCCR Robotics Best Master Thesis Award

PDF Code Project Page ICRA 2021 Video Pitch Slides


RAL21_Torrente

G. Torrente*, E. Kaufmann*, P. Foehn, D. Scaramuzza

Data-Driven MPC for Quadrotors

IEEE Robotics and Automation Letters (RA-L), 2021.

PDF YouTube Code


RAL21_Sun

S. Sun, G. Cioffi, C. de Visser, D. Scaramuzza

Autonomous Quadrotor Flight despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events

IEEE Robotics and Automation Letters (RA-L), 2021.

Best Paper Award!

PDF YouTube Code


2020

IJCV20_Zhang

Z. Zhang, T. Sattler, D. Scaramuzza

Reference Pose Generation for Long-term Visual Localization via Learned Features
and View Synthesis

International Journal of Computer Vision (IJCV), 2020.

PDF Online Visual Localization Benchmark


PD-MeshNet

F. Milano, A. Loquercio, A. Rosinol, D. Scaramuzza, L. Carlone

Primal-Dual Mesh Convolutional Neural Networks

Conference on Neural Information Processing Systems (NeurIPS), 2020

PDF Code


3DV20_Hidalgo

J. Hidalgo-Carrio, D. Gehrig, D. Scaramuzza

Learning Monocular Dense Depth from Events

IEEE International Conference on 3D Vision (3DV), Fukuoka, 2020

PDF Code Dataset


PhD20_Zhang

Z. Zhang

Active Robot Vision: from State Estimation to Motion Planning

PhD Thesis, University of Zurich, July 2020

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Margarita Chli, Prof. Timothy Barfoot, Prof. Frank Dellaert, Prof. Michael Kaess.

PDF


Flightmare_Yunlong

Y. Song, S. Naji, E. Kaufmann, A. Loquercio, D. Scaramuzza

Flightmare: A Flexible Quadrotor Simulator

Conference on Robot Learning (CoRL), 2020

PDF YouTube CoRL 2020 Pitch Video Website


IROS20_Kostadinov

D. Kostadinov, D. Scaramuzza

Online Weight-adaptive Nonlinear Model Predictive Control

International Conference on Intelligent Robots and Systems (IROS), Las Vegas, 2020.

PDF YouTube


Arxiv20_Zhang_FIF

Z. Zhang, D. Scaramuzza

Fisher Information Field: an Efficient and Differentiable Map for Perception-aware Planning

arXiv preprint, 2020.

PDF YouTube Code


Arxiv20_Messikommer

N. Messikommer, D. Gehrig, A. Loquercio, D. Scaramuzza

Event-based Asynchronous Sparse Convolutional Networks

European Conference on Computer Vision (ECCV), Glasgow, 2020.

PDF YouTube ECCV20 Presentation Code


Reducing the Sim-to-Real Gap for Event Cameras

T. Stoffregen, C. Scheerlinck, D. Scaramuzza, T. Drummond1, N. Barnes, L. Kleeman1, R. Mahony

Reducing the Sim-to-Real Gap for Event Cameras

European Conference on Computer Vision (ECCV), Glasgow, 2020.

PDF Code and Datasets


Learning High-Level Policies for Model Predictive Control

Y. Song, D.Scaramuzza

Learning High-Level Policies for Model Predictive Control

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, 2020.

PDF Code YouTube


Augmenting Visual Place Recognition with Structural Cues

A. Oertel, T. Cieslewski, D. Scaramuzza

Augmenting Visual Place Recognition with Structural Cues

IEEE Robotics and Automation Letters (RA-L), 2020.

PDF YouTube


Arxiv20_Nagy

Balazs Nagy, Philipp Foehn, and Davide Scaramuzza

Faster than FAST: GPU-Accelerated Frontend for High-Speed VIO

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, 2020.

PDF Code YouTube


IROS20_Loquercio

Antonio Loquercio, Alexey Dosovitskiy and Davide Scaramuzza

Learning Depth With Very Sparse Supervision

IEEE Robotics and Automation Letters, 2020.

PDF IROS2020 Video Pitch


Event-based Vision: A Survey

G. Gallego, T. Delbruck, G. Orchard, C. Bartolozzi, B. Taba, A. Censi, S. Leutenegger, A. Davison, J. Conradt, K. Daniilidis, D. Scaramuzza

Event-based Vision: A Survey

IEEE Transactions on Pattern Analysis and Machine Intelligence, 2020.

PDF


IROS20_Cioffi

Giovanni Cioffi, Davide Scaramuzza

Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, 2020.

PDF YouTube Code


RSS20_Kaufmann

E. Kaufmann*, A. Loquercio*, R. Ranftl, M. Müller, V. Koltun, D. Scaramuzza

Deep Drone Acrobatics

Robotics: Science and Systems (RSS), 2020

Best Paper Nominee!

PDF YouTube RSS2020 Pitch Video Blog Post Code


RSS20_Foehn

P. Foehn*, D. Brescianini*, E. Kaufmann*, T. Cieslewski, M. Gehrig, M. Muglikar, D. Scaramuzza

AlphaPilot: Autonomous Drone Racing

Robotics: Science and Systems (RSS), 2020

Best Systems Paper Award!

PDF YouTube RSS2020 Pitch Video


Arxiv20_Madaan1

R. Madaan, N. Gyde, S. Vemprala, M. Brown, K. Nagami, T. Taubner, E. Cristofalo, D. Scaramuzza, M. Schwager, A. Kapoor

AirSim Drone Racing Lab

PLMR Post Proceedings of the NeurIPS 2019 Competition Track, 2020.

PDF Code


encyclopedia19_scaramuzza

Davide Scaramuzza, Zichao Zhang

Visual-Inertial Odometry of Aerial Robots

Encyclopedia of Robotics, Springer, 2020.

PDF


Science20_Falanga

Davide Falanga, Kevin Kleber, and Davide Scaramuzza

Dynamic Obstacle Avoidance for Quadrotors with Event Cameras

Science Robotics, March 18, 2020.

PDF (Free of Access: from the Science webpage click pn PDF and then Download PDF) Supplementary Material YouTube


ICRA20_Sanket

N.J. Sanket, C.M Parameshwara, C.D. Singh, C. Fermüller, D. Scaramuzza, Y. Aloimonos

EVDodgeNet: Deep Dynamic Obstacle Dodging with event cameras

IEEE International Conference on Robotics and Automation (ICRA), 2020

PDF ICRA2020 Pitch Video Code Project Page


Towards Low-Latency High-Bandwidth Control of Quadrotors using Event Cameras

R. Sugimoto, M. Gehrig, D. Brescianini, D. Scaramuzza

Towards Low-Latency High-Bandwidth Control of Quadrotors using Event Cameras

IEEE International Conference on Robotics and Automation (ICRA), 2020

PDF YouTube ICRA2020 Pitch Video


ICRA20_Gehrig

M. Gehrig, S. Shrestha, D. Mouritzen, D. Scaramuzza

Event-Based Angular Velocity Regression with Spiking Networks

IEEE International Conference on Robotics and Automation (ICRA), 2020.

PDF Code YouTube


ICRA20_Muglikar

M. Muglikar, Z. Zhang, D. Scaramuzza

Voxel Map for Visual SLAM

IEEE International Conference on Robotics and Automation (ICRA), 2020.

PDF ICRA2020 Pitch Video


ICRA20_Kuo

J. Kuo, M. Muglikar, Z. Zhang, D. Scaramuzza

Redesigning SLAM for Arbitrary Multi-Camera Systems

IEEE International Conference on Robotics and Automation (ICRA), 2020.

PDF YouTube ICRA2020 Pitch Video


A General Framework for Uncertainty Estimation in Deep Learning

A. Loquercio*, M. Segu*, D. Scaramuzza

A General Framework for Uncertainty Estimation in Deep Learning

IEEE Robotics and Automation Letters, 2020.

PDF YouTube ICRA2020 Pitch Video Code


High Speed and High Dynamic Range Video with an Event Camera

H. Rebecq, R. Ranftl, V. Koltun, D. Scaramuzza

High Speed and High Dynamic Range Video with an Event Camera

IEEE Transactions on Pattern Analysis and Machine Intelligence, 2020.

PDF YouTube Code Datasets


Fast Image Reconstruction with an Event Camera

C. Scheerlinck, H. Rebecq, D. Gehrig, N. Barnes, R. Mahony, D. Scaramuzza

Fast Image Reconstruction with an Event Camera

IEEE Winter Conference on Applications of Computer Vision (WACV), 2020.

PDF YouTube Code and Datasets


Video to Events: Recycling Video Dataset for Event Cameras

D. Gehrig, M. Gehrig, J. Hidalgo-Carrio, D. Scaramuzza

Video to Events: Recycling Video Dataset for Event Cameras

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Seattle, 2020.

PDF YouTube CVPR20 Video Pitch Code


2019

PhD19_Rebecq

H. Rebecq

Event Cameras: from SLAM to High Speed Video

PhD Thesis, University of Zurich, November 2019

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Andrew Davison, Prof. Tobi Delbruck, Prof. Bernt Schiele.

PDF


PhD19_Falanga

D. Falanga

Agile, Vision-Based Quadrotor Flight: from Active, Low-Latency Perception to Adaptive Morphology

PhD Thesis, University of Zurich, December 2019

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Roland Siegwart, Prof. Sami Haddadin, Prof. Nathan Michael.

PDF


TRO19_Loquercio

A. Loquercio*, E. Kaufmann*, R. Ranftl, A. Dosovitskiy, V. Koltun, D. Scaramuzza

Deep Drone Racing: From Simulation to Reality with Domain Randomization

IEEE Transactions on Robotics, 2019

TRO Best Paper Award Honorable Mention!

PDF YouTube 1 YouTube 2 Code


Exploration Without Global Consistency Using Local Volume Consolidation

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


SIPs: Succinct Interest Points from Unsupervised Inlierness Probability Learning

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


Event-Based Motion Segmentation by Motion Compensation

T. Stoffregen, G. Gallego, T. Drummond, L. Kleeman, D. Scaramuzza

Event-Based Motion Segmentation by Motion Compensation

IEEE International Conference on Computer Vision (ICCV), 2019.

PDF (animations best viewed with Acrobat Reader) YouTube


End-to-End Learning of Representations for Asynchronous Event-Based Data

D. Gehrig, A. Loquercio, K. G. Derpanis, D. Scaramuzza

End-to-End Learning of Representations for Asynchronous Event-Based Data

IEEE International Conference on Computer Vision (ICCV), 2019.

PDF YouTube Code


EKLT: Asynchronous, Photometric Feature Tracking using Events and Frames

D. Gehrig, H. Rebecq, G. Gallego, D. Scaramuzza

EKLT: Asynchronous, Photometric Feature Tracking using Events and Frames

International Journal of Computer Vision (IJCV), 2019.

PDF YouTube Evaluation Code Tracking Code


A General Framework for Uncertainty Estimation in Deep Learning

J. Delmerico, S. Mintchev, A. Giusti, B. Gromov, K. Melo, T. Horvat, C. Cadena, M. Hutter, A. Ijspeert, D. Floreano, L. M. Gambardella, R. Siegward, D. Scaramuzza

The current state and future outlook of rescue robotics

Journal of Field Robotics, 2019.

PDF


IMIPs

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


WICRA19_Zhang

Z. Zhang, D. Scaramuzza

Rethinking Trajectory Evaluation for SLAM: a Probabilistic, Continuous-Time Approach

ICRA19 Workshop on Dataset Generation and Benchmarking of SLAM Algorithms for Robotics and VR/AR

Best Paper Award!

PDF


RSS19_Nisar

B. Nisar, P. Foehn, D. Falanga, D. Scaramuzza

VIMO: Simultaneous Visual Inertial Model-based Odometry and Force Estimation

Robotics: Science and Systems (RSS), Freiburg, 2019

PDF, Code, YouTube


Nano-Dronet

D. Palossi, A. Loquercio, F. Conti, E. Flamand, D. Scaramuzza, L. Benini

A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones

IEEE Internet of Things Journal, 2019

Video, PDF, Code


IJCARS19_Liebmann

F. Liebmann, S. Roner, M. von Atzigen, D. Scaramuzza, R. Sutter, J. Snedeker, M. Farshad, P. Furnstahl

Pedicle screw navigation using surface digitization on the Microsoft HoloLens

Springer International Journal of Computer Assisted Radiology and Surgery, 2019.

PDF


CED_image

C. Scheerlinck*, H. Rebecq*, T. Stoffregen, N. Barnes, R. Mahony, D. Scaramuzza

CED: Color Event Camera Dataset

IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2019.

PDF YouTube Dataset


Focus Is All You Need: Loss Functions for Event-based Vision

G. Gallego, M. Gehrig, D. Scaramuzza

Focus Is All You Need: Loss Functions for Event-based Vision

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Long Beach, 2019.

PDF Poster YouTube


Events-to-Video: Bringing Modern Computer Vision to Event Cameras

H. Rebecq, R. Ranftl, V. Koltun, D. Scaramuzza

Events-to-Video: Bringing Modern Computer Vision to Event Cameras

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Long Beach, 2019.

PDF YouTube


Unsupervised Moving Object Detection via Contextual Information Separation

Y.Yang*, A.Loquercio*, D. Scaramuzza, S. Soatto

Unsupervised Moving Object Detection via Contextual Information Separation

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Long Beach, 2019.

PDF YouTube Project Page


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

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


Information field illustration

Z. Zhang, D. Scaramuzza

Beyond Point Clouds: Fisher Information Field for Active Visual Localization

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

PDF YouTube Code


Pose tracking with an Event-based camera using non-linear optimization

S. Bryner, G. Gallego, H. Rebecq, D. Scaramuzza

Event-based, Direct Camera Tracking from a Photometric 3D Map using Nonlinear Optimization

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

PDF Poster YouTube Project Webpage, Datasets and Code


RAL18_Falanga

D. Falanga, K. Kleber, S. Mintchev, D. Floreano, D. Scaramuzza

The Foldable Drone: A Morphing Quadrotor that can Squeeze and Fly

IEEE Robotics and Automation Letters (RA-L), 2019.

PDF YouTube Project page


RAL19_Falanga

D. Falanga, S. Kim, D. Scaramuzza

How Fast is Too Fast? The Role of Perception Latency in High-Speed Sense and Avoid

IEEE Robotics and Automation Letters (RA-L), 2019.

PDF YouTube


arXiv17_Gomez_pl_slam

R. Gomez-Ojeda, F.A. Moreno, D. Scaramuzza, J. Gonzalez-Jimenez

PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments

IEEE Transactions on Robotics, 2019

PDF YouTube Code


IRS19_Moon

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


Beauty and the Beast

E. Kaufmann, M. Gehrig, P. Foehn, R. Ranftl, A. Dosovitskiy, V. Koltun, D. Scaramuzza

Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing.

This approach was used to win the IROS 2018 Autonomous Drone Race.

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

PDF YouTube


2018

CORL18_Rebecq

H. Rebecq, D. Gehrig, D. Scaramuzza

ESIM: an Open Event Camera Simulator

Conference on Robot Learning (CoRL), Zurich, 2018.

PDF YouTube Project page


Deep Drone Racing

E. Kaufmann*, A. Loquercio*, R. Ranftl, A. Dosovitskiy, V. Koltun, D. Scaramuzza

Deep Drone Racing: Learning Agile Flight in Dynamic Environments

Conference on Robotic Learning (CoRL), Zurich, 2018.

Best Systems Paper Award!

Oral Presentation. Oral Acceptance Rate: 4.0%.

PDF YouTube


Asynchronous, Photometric Feature Tracking using Events and Frames

D. Gehrig, H. Rebecq, G. Gallego, D. Scaramuzza

Asynchronous, Photometric Feature Tracking using Events and Frames

European Conference on Computer Vision (ECCV), Munich, 2018.

Oral Presentation. Oral Acceptance Rate: 2.4%.

PDF Poster YouTube Oral presentation Evaluation Code Tracking Code


Semi-Dense 3D Reconstruction with a Stereo Event Camera

Y. Zhou, G. Gallego, H. Rebecq, L. Kneip, H. Li, D. Scaramuzza

Semi-Dense 3D Reconstruction with a Stereo Event Camera

European Conference on Computer Vision (ECCV), Munich, 2018.

PDF Poster YouTube Project page and Data


Computing The Forward Reachable Set for a Multirotor Under First-Order Aerodynamic Effects

S. Kim, D. Falanga, D. Scaramuzza

Computing The Forward Reachable Set for a Multirotor Under First-Order Aerodynamic Effects

IEEE Robotics and Automation Letters (RA-L), 2018.

PDF


PhD18_Faessler

M. Faessler

Quadrotor Control for Accurate Agile Flight

PhD Thesis, University of Zurich, April 2018.

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Anibal Ollero, HDR. Dr. Antonio Franchi.

PDF


Continuous-Time Visual-Inertial Trajectory Estimation for Event Cameras

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

Continuous-Time Visual-Inertial Odometry for Event Cameras

IEEE Transactions on Robotics, 2018

PDF


RSS18_Spica

R. Spica, D. Falanga, E. Cristofalo, E. Montijano, D. Scaramuzza, M. Schwager

A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing

Robotics: Science and Systems (RSS), Pittsburgh, 2018

PDF Video


arxiv18_Mohta

K. Mohta, M. Watterson, Y. Mulgaonkar, S. Liu, C. Qu, A. Makineni, K. Saulnier, K. Sun, A. Zhu, J. Delmerico, K. Karydis, N. Atanasov, G. Loianno, D. Scaramuzza, K. Daniilidis, C. Jose Taylor, V. Kumar

Fast, Autonomous Flight in GPS-denied and Cluttered Environments

Journal of Field Robotics, 2018, Vol. 35, Issue 1.

PDF YouTube


DL-Survey

A. Loquercio, D. Scaramuzza

Learning to Control Drones in Natural Environments: A Survey

ICRA18 Workshop on Perception, Inference, and Learning

PDF


Trajectory Evaluation

Z. Zhang, D. Scaramuzza

A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018.

PDF PPT VO/VIO Evaluation Toolbox


Gauge Comparison

Z. Zhang, G, Gallego, D. Scaramuzza

On the Comparison of Gauge Freedom Handling in Optimization-based Visual-Inertial State Estimation

IEEE Robotics and Automation Letters (RA-L), 2018.

PDF PPT Code


PAMPC

D. Falanga, P. Foehn, P. Lu, D. Scaramuzza

PAMPC: Perception-Aware Model Predictive Control for Quadrotors

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018.

PDF YouTube Code


A Unifying Contrast Maximization Framework for Event Cameras

G. Gallego, H. Rebecq, D. Scaramuzza

A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth and Optical Flow Estimation

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Salt Lake City, 2018.

Spotlight Presentation.

PDF Poster YouTube Spotlight presentation


Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Cars

A.I. Maqueda, A. Loquercio, G. Gallego, N. Garcia, D. Scaramuzza

Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Cars

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Salt Lake City, 2018.

PDF Poster YouTube Code


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


ICRA18_Zhang

Z. Zhang, D. Scaramuzza

Perception-aware Receding Horizon Navigation for MAVs

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

PDF Video ICRA18 Video Pitch PPT


A Benchmark Comparison of Monocular VIO Algorithms for Flying Robots

J. Delmerico, D. Scaramuzza

A Benchmark Comparison of Monocular Visual-Inertial Odometry Algorithms for Flying Robots

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

PDF Video PPT Interactive Graphs


Onboard State Dependent LQR for Agile Quadrotors

P. Foehn, D. Scaramuzza

Onboard State Dependent LQR for Agile Quadrotors

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

PDF Video ICRA18 Video Pitch PPT


3D reconstruction with an Event-based camera in real-time

A. Loquercio, A.I. Maqueda, C.R. Del Blanco, D. Scaramuzza

DroNet: Learning to Fly by Driving

IEEE Robotics and Automation Letters (RA-L), 2018.

PDF YouTube Software and Datasets


RAL18_VidalRebecq

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

Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarios

IEEE Robotics and Automation Letters (RA-L), 2018.

Best Paper Award finalist (2nd out of 720 papers)!

PDF YouTube ICRA18 Video Pitch Poster Results (raw trajectories) Project Webpage Source Code


ICRA18_Gomez

R. Gomez-Ojeda, Z. Zhang, J. Gonzalez-Jimenez, D. Scaramuzza

Learning-based Image Enhancement for Visual Odometry in Challenging HDR Environments

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

PDF Video ICRA18 Video Pitch PPT


RAL18_Faessler

M. Faessler, A. Franchi, and D. Scaramuzza

Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories

IEEE Robotics and Automation Letters (RA-L), 2018.

PDF YouTube ICRA18 Video Teaser Open-Source Code


Pose tracking with an Event-based camera

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

Event-based, 6-DOF Camera Tracking from Photometric Depth Maps

IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol 40, Issue 10, 2018.

PDF Poster YouTube Datasets


JFR18_loianno_special_issue

G. Loianno, D. Scaramuzza, V. Kumar

Special Issue on High-Speed Vision-Based Autonomous Navigation of UAVs

Journal of Field Robotics, 2018.

PDF


2017

3D reconstruction with an Event-based camera in real-time

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

EMVS: Event-Based Multi-View Stereo - 3D Reconstruction with an Event Camera in Real-Time

International Journal of Computer Vision, 2017.

PDF YouTube Source Code


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


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. Oral acceptance Rate: 5.6%

PDF PPT YouTube Oral Presentation Results (raw trajectories)


SSRR17_Falanga

D. Falanga, A. Zanchettin, A. Simovic, J. Delmerico, D. Scaramuzza

Vision-based Autonomous Quadrotor Landing on a Moving Platform

IEEE/RSJ International Symposium on Safety, Security and Rescue Robotics (SSRR), Shanghai, 2017.

PDF PPT 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 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


BMVC17_Mueggler

E. Mueggler, C. Bartolozzi, D. Scaramuzza

Fast Event-based Corner Detection

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

PDF Poster YouTube Open-Source Code


PhD17_Mueggler

E. Mueggler

Event-based Vision for High-Speed Robotics

PhD Thesis, University of Zurich, July 2017.

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Tobi Delbruck, Prof. Kostas Daniilidis.

PDF


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) PPT 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 PPT YouTube


ICAR17_Vasco

V. Vasco, A. Glover, E. Mueggler, D. Scaramuzza, L. Natale, C. Bartolozzi

Independent Motion Detection with Event-driven Cameras

International Conference on Advanced Robotics (ICAR), Hong Kong, 2017.

PDF


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


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


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 PPT YouTube Code


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


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 PPT 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 PPT YouTube Open-Source Code


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


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 PPT 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 PPT YouTube Code Poster


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 PPT 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 PPT YouTube


TRO17_Forster-SVO

C. Forster, Z. Zhang, M. Gassner, M. Werlberger, D. 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 Code


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 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.

IEEE Transactions on Robotics (TRO) best paper award 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


Springer17_Wetzel

O. Wetzel, A. R. Schmidt, M. Seiler, D. Scaramuzza, B. Seifert, D. R. Spahn, P. Stein

A smartphone application to determine body length for body weight estimation in children: a prospective clinical trial

Journal of Clinical Monitoring and Computing, June 2017

PDF



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.

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

PDF PPT YouTube Source Code


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 PPT 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 PPT 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 PPT 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


PhD16_Forster

C. Forster

Visual Inertial Odometry and Dense Reconstruction for Mobile Robots

PhD Thesis, University of Zurich, April 2016.

Advisor: Prof. Davide Scaramuzza.

Committee: Prof. Marc Pollefeys, Dr. Stefan Leutenegger.

PDF


TRO16_costante

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

Perception-aware Path Planning

Technical Report (Arxiv)

PDF YouTube


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 PPT 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 PPT YouTube Research page (datasets and software) C++ omnidirectional camera model


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

NCCR Robotics Most Impactful Paper Award

AAAI'16 Best Video Award finalist!

PDF PPT 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.

RSS'15 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 PPT Poster


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 Prezi Slides 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 PPT Code


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 PPT 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 PPT 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 Transactions 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]