Davide Scaramuzza

According to our database1, Davide Scaramuzza authored at least 216 papers between 2005 and 2021.

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Bibliography

2021
Data-Driven MPC for Quadrotors.
IEEE Robotics Autom. Lett., 2021

Autonomous Quadrotor Flight Despite Rotor Failure With Onboard Vision Sensors: Frames vs. Events.
IEEE Robotics Autom. Lett., 2021

Human-Piloted Drone Racing: Visual Processing and Control.
IEEE Robotics Autom. Lett., 2021

Combining Events and Frames Using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction.
IEEE Robotics Autom. Lett., 2021

DSEC: A Stereo Event Camera Dataset for Driving Scenarios.
IEEE Robotics Autom. Lett., 2021

Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning.
IEEE Robotics Autom. Lett., 2021

High Speed and High Dynamic Range Video with an Event Camera.
IEEE Trans. Pattern Anal. Mach. Intell., 2021

Reference Pose Generation for Long-term Visual Localization via Learned Features and View Synthesis.
Int. J. Comput. Vis., 2021

TimeLens: Event-based Video Frame Interpolation.
CoRR, 2021

How to Calibrate Your Event Camera.
CoRR, 2021

Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning.
CoRR, 2021

AutoTune: Controller Tuning for High-Speed Flight.
CoRR, 2021

Autonomous Drone Racing with Deep Reinforcement Learning.
CoRR, 2021

NeuroBEM: Hybrid Aerodynamic Quadrotor Model.
Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

2020
Deep Drone Racing: From Simulation to Reality With Domain Randomization.
IEEE Trans. Robotics, 2020

Augmenting Visual Place Recognition With Structural Cues.
IEEE Robotics Autom. Lett., 2020

A General Framework for Uncertainty Estimation in Deep Learning.
IEEE Robotics Autom. Lett., 2020

Learning Depth With Very Sparse Supervision.
IEEE Robotics Autom. Lett., 2020

Special issue on future challenges and opportunities in vision-based drone navigation.
J. Field Robotics, 2020

Correction to: EKLT: Asynchronous Photometric Feature Tracking Using Events and Frames.
Int. J. Comput. Vis., 2020

EKLT: Asynchronous Photometric Feature Tracking Using Events and Frames.
Int. J. Comput. Vis., 2020

Flightmare: A Flexible Quadrotor Simulator.
CoRR, 2020

Fisher Information Field: an Efficient and Differentiable Map for Perception-aware Planning.
CoRR, 2020

CPC: Complementary Progress Constraints for Time-Optimal Quadrotor Trajectories.
CoRR, 2020

Reference Pose Generation for Visual Localization via Learned Features and View Synthesis.
CoRR, 2020

How to Train Your Event Camera Neural Network.
CoRR, 2020

Geometry-aware Compensation Scheme for Morphing Drones.
CoRR, 2020

Learning Depth via Interaction.
CoRR, 2020

Registration made easy - standalone orthopedic navigation with HoloLens.
CoRR, 2020

Fast Image Reconstruction with an Event Camera.
Proceedings of the IEEE Winter Conference on Applications of Computer Vision, 2020

Deep Drone Acrobatics.
Proceedings of the Robotics: Science and Systems XVI, 2020

AlphaPilot: Autonomous Drone Racing.
Proceedings of the Robotics: Science and Systems XVI, 2020

Primal-Dual Mesh Convolutional Neural Networks.
Proceedings of the Advances in Neural Information Processing Systems 33: Annual Conference on Neural Information Processing Systems 2020, 2020

Learning High-Level Policies for Model Predictive Control.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Faster than FAST: GPU-Accelerated Frontend for High-Speed VIO.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Online Weight-adaptive Nonlinear Model Predictive Control.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

EVDodgeNet: Deep Dynamic Obstacle Dodging with Event Cameras.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Voxel Map for Visual SLAM.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Redesigning SLAM for Arbitrary Multi-Camera Systems.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Event-Based Angular Velocity Regression with Spiking Networks.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Towards Low-Latency High-Bandwidth Control of Quadrotors using Event Cameras.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Unsupervised Feature Learning for Event Data: Direct vs Inverse Problem Formulation.
Proceedings of the 25th International Conference on Pattern Recognition, 2020

Reducing the Sim-to-Real Gap for Event Cameras.
Proceedings of the Computer Vision - ECCV 2020, 2020

Event-Based Asynchronous Sparse Convolutional Networks.
Proceedings of the Computer Vision - ECCV 2020, 2020

Real-Time Embedded Computer Vision on UAVs: - UAVision2020 Workshop Summary.
Proceedings of the Computer Vision - ECCV 2020 Workshops, 2020

Video to Events: Recycling Video Datasets for Event Cameras.
Proceedings of the 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020

Learning Monocular Dense Depth from Events.
Proceedings of the 8th International Conference on 3D Vision, 2020

2019
PL-SLAM: A Stereo SLAM System Through the Combination of Points and Line Segments.
IEEE Trans. Robotics, 2019

VIMO: Simultaneous Visual Inertial Model-Based Odometry and Force Estimation.
IEEE Robotics Autom. Lett., 2019

How Fast Is Too Fast? The Role of Perception Latency in High-Speed Sense and Avoid.
IEEE Robotics Autom. Lett., 2019

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly.
IEEE Robotics Autom. Lett., 2019

The current state and future outlook of rescue robotics.
J. Field Robotics, 2019

Challenges and implemented technologies used in autonomous drone racing.
Intell. Serv. Robotics, 2019

A 64-mW DNN-Based Visual Navigation Engine for Autonomous Nano-Drones.
IEEE Internet Things J., 2019

Video to Events: Bringing Modern Computer Vision Closer to Event Cameras.
CoRR, 2019

Exploration Without Global Consistency Using Local Volume Consolidation.
CoRR, 2019

Rethinking Trajectory Evaluation for SLAM: a Probabilistic, Continuous-Time Approach.
CoRR, 2019

Visual-Inertial Odometry of Aerial Robots.
CoRR, 2019

EVDodge: Embodied AI For High-Speed Dodging On A Quadrotor Using Event Cameras.
CoRR, 2019

Event-based Vision: A Survey.
CoRR, 2019

Pedicle screw navigation using surface digitization on the Microsoft HoloLens.
Int. J. Comput. Assist. Radiol. Surg., 2019

AirSim Drone Racing Lab.
Proceedings of the NeurIPS 2019 Competition and Demonstration Track, 2019

Beyond Point Clouds: Fisher Information Field for Active Visual Localization.
Proceedings of the International Conference on Robotics and Automation, 2019

Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing.
Proceedings of the International Conference on Robotics and Automation, 2019

Are We Ready for Autonomous Drone Racing? The UZH-FPV Drone Racing Dataset.
Proceedings of the International Conference on Robotics and Automation, 2019

Event-based, Direct Camera Tracking from a Photometric 3D Map using Nonlinear Optimization.
Proceedings of the International Conference on Robotics and Automation, 2019

Event-Based Motion Segmentation by Motion Compensation.
Proceedings of the 2019 IEEE/CVF International Conference on Computer Vision, 2019

End-to-End Learning of Representations for Asynchronous Event-Based Data.
Proceedings of the 2019 IEEE/CVF International Conference on Computer Vision, 2019

CED: Color Event Camera Dataset.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2019

Events-To-Video: Bringing Modern Computer Vision to Event Cameras.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2019

Focus Is All You Need: Loss Functions for Event-Based Vision.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2019

Unsupervised Moving Object Detection via Contextual Information Separation.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2019

Matching Features without Descriptors: Implicitly Matched Interest Points.
Proceedings of the 30th British Machine Vision Conference 2019, 2019

SIPs: Succinct Interest Points from Unsupervised Inlierness Probability Learning.
Proceedings of the 2019 International Conference on 3D Vision, 2019

2018
Continuous-Time Visual-Inertial Odometry for Event Cameras.
IEEE Trans. Robotics, 2018

On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation.
IEEE Robotics Autom. Lett., 2018

Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High-Speed Scenarios.
IEEE Robotics Autom. Lett., 2018

DroNet: Learning to Fly by Driving.
IEEE Robotics Autom. Lett., 2018

Computing the Forward Reachable Set for a Multirotor Under First-Order Aerodynamic Effects.
IEEE Robotics Autom. Lett., 2018

Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories.
IEEE Robotics Autom. Lett., 2018

Event-Based, 6-DOF Camera Tracking from Photometric Depth Maps.
IEEE Trans. Pattern Anal. Mach. Intell., 2018

Fast, autonomous flight in GPS-denied and cluttered environments.
J. Field Robotics, 2018

Special Issue on High-Speed Vision-Based Autonomous Navigation of UAVs.
J. Field Robotics, 2018

EMVS: Event-Based Multi-View Stereo - 3D Reconstruction with an Event Camera in Real-Time.
Int. J. Comput. Vis., 2018

Matching Features without Descriptors: Implicitly Matched Interest Points (IMIPs).
CoRR, 2018

Ultra Low Power Deep-Learning-powered Autonomous Nano Drones.
CoRR, 2018

SIPS: Unsupervised Succinct Interest Points.
CoRR, 2018

Guest editorial: Special issue on active perception.
Auton. Robots, 2018

A comparison of volumetric information gain metrics for active 3D object reconstruction.
Auton. Robots, 2018

A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing.
Proceedings of the Robotics: Science and Systems XIV, 2018

A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

PAMPC: Perception-Aware Model Predictive Control for Quadrotors.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Perception-aware Receding Horizon Navigation for MAVs.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Learning-Based Image Enhancement for Visual Odometry in Challenging HDR Environments.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Onboard State Dependent LQR for Agile Quadrotors.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

A Benchmark Comparison of Monocular Visual-Inertial Odometry Algorithms for Flying Robots.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Data-Efficient Decentralized Visual SLAM.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Semi-dense 3D Reconstruction with a Stereo Event Camera.
Proceedings of the Computer Vision - ECCV 2018, 2018

Asynchronous, Photometric Feature Tracking Using Events and Frames.
Proceedings of the Computer Vision - ECCV 2018, 2018

Event-Based Vision Meets Deep Learning on Steering Prediction for Self-Driving Cars.
Proceedings of the 2018 IEEE Conference on Computer Vision and Pattern Recognition, 2018

A Unifying Contrast Maximization Framework for Event Cameras, With Applications to Motion, Depth, and Optical Flow Estimation.
Proceedings of the 2018 IEEE Conference on Computer Vision and Pattern Recognition, 2018

ESIM: an Open Event Camera Simulator.
Proceedings of the 2nd Annual Conference on Robot Learning, 2018

Deep Drone Racing: Learning Agile Flight in Dynamic Environments.
Proceedings of the 2nd Annual Conference on Robot Learning, 2018

2017
SVO: Semidirect Visual Odometry for Monocular and Multicamera Systems.
IEEE Trans. Robotics, 2017

On-Manifold Preintegration for Real-Time Visual-Inertial Odometry.
IEEE Trans. Robotics, 2017

EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real Time.
IEEE Robotics Autom. Lett., 2017

Toward Domain Independence for Learning-Based Monocular Depth Estimation.
IEEE Robotics Autom. Lett., 2017

Simultaneous State Initialization and Gyroscope Bias Calibration in Visual Inertial Aided Navigation.
IEEE Robotics Autom. Lett., 2017

Accurate Angular Velocity Estimation With an Event Camera.
IEEE Robotics Autom. Lett., 2017

Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight.
IEEE Robotics Autom. Lett., 2017

Active Autonomous Aerial Exploration for Ground Robot Path Planning.
IEEE Robotics Autom. Lett., 2017

Efficient Decentralized Visual Place Recognition Using a Distributed Inverted Index.
IEEE Robotics Autom. Lett., 2017

The event-camera dataset and simulator: Event-based data for pose estimation, visual odometry, and SLAM.
Int. J. Robotics Res., 2017

The Zurich urban micro aerial vehicle dataset.
Int. J. Robotics Res., 2017

Hybrid, Frame and Event based Visual Inertial Odometry for Robust, Autonomous Navigation of Quadrotors.
CoRR, 2017

Continuous-Time Visual-Inertial Trajectory Estimation with Event Cameras.
CoRR, 2017

PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments.
CoRR, 2017

Vision-based autonomous quadrotor landing on a moving platform.
Proceedings of the IEEE International Symposium on Safety, Security and Rescue Robotics, 2017

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload.
Proceedings of the Robotics: Science and Systems XIII, 2017

Efficient decentralized visual place recognition from full-image descriptors.
Proceedings of the 2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2017

Rapid exploration with multi-rotors: A frontier selection method for high speed flight.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Active exposure control for robust visual odometry in HDR environments.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Aggressive quadrotor flight through narrow gaps with onboard sensing and computing using active vision.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Independent motion detection with event-driven cameras.
Proceedings of the 18th International Conference on Advanced Robotics, 2017

Place Recognition in Semi-Dense Maps.
Proceedings of the British Machine Vision Conference 2017, 2017

Real-time Visual-Inertial Odometry for Event Cameras using Keyframe-based Nonlinear Optimization.
Proceedings of the British Machine Vision Conference 2017, 2017

Fast Event-based Corner Detection.
Proceedings of the British Machine Vision Conference 2017, 2017

2016
Multi-body Motion Estimation from Monocular Vehicle-Mounted Cameras.
IEEE Trans. Robotics, 2016

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age.
IEEE Trans. Robotics, 2016

A Machine Learning Approach to Visual Perception of Forest Trails for Mobile Robots.
IEEE Robotics Autom. Lett., 2016

Autonomous, Vision-based Flight and Live Dense 3D Mapping with a Quadrotor Micro Aerial Vehicle.
J. Field Robotics, 2016

Event-based, 6-DOF Camera Tracking for High-Speed Applications.
CoRR, 2016

Aggressive Quadrotor Flight through Narrow Gaps with Onboard Sensing and Computing.
CoRR, 2016

Perception-aware Path Planning.
CoRR, 2016

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age.
CoRR, 2016

Collaborative localization of aerial and ground robots through elevation maps.
Proceedings of the 2016 IEEE International Symposium on Safety, 2016

"On-the-Spot Training" for Terrain Classification in Autonomous Air-Ground Collaborative Teams.
Proceedings of the International Symposium on Experimental Robotics, 2016

Low-latency visual odometry using event-based feature tracks.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Benefit of large field-of-view cameras for visual odometry.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

An information gain formulation for active volumetric 3D reconstruction.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Feature detection and tracking with the dynamic and active-pixel vision sensor (DAVIS).
Proceedings of the Second International Conference on Event-based Control, 2016

ELiSeD - An event-based line segment detector.
Proceedings of the Second International Conference on Event-based Control, 2016

EMVS: Event-based Multi-View Stereo.
Proceedings of the British Machine Vision Conference 2016, 2016

2015
Low computational-complexity algorithms for vision-aided inertial navigation of micro aerial vehicles.
Robotics Auton. Syst., 2015

Air-ground Matching: Appearance-based GPS-denied Urban Localization of Micro Aerial Vehicles.
J. Field Robotics, 2015

Nonlinear ego-motion estimation from optical flow for online control of a quadrotor UAV.
Int. J. Robotics Res., 2015

LightPanel: Active Mobile Platform for Dense 3D Modelling.
CoRR, 2015

Event-based Camera Pose Tracking using a Generative Event Model.
CoRR, 2015

On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation.
CoRR, 2015

Continuous-Time Trajectory Estimation for Event-based Vision Sensors.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

Exploiting Photometric Information for Planning Under Uncertainty.
Proceedings of the Robotics Research, 2015

Lifetime estimation of events from Dynamic Vision Sensors.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Continuous on-board monocular-vision-based elevation mapping applied to autonomous landing of micro aerial vehicles.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Automatic re-initialization and failure recovery for aggressive flight with a monocular vision-based quadrotor.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

PHENOM: Interest Points on Photometric Normal Maps.
Proceedings of the 36th Annual Conference of the European Association for Computer Graphics, 2015

Towards evasive maneuvers with quadrotors using dynamic vision sensors.
Proceedings of the 2015 European Conference on Mobile Robots, 2015

2014
Omnidirectional Camera.
Computer Vision, A Reference Guide, 2014

Vision-Controlled Micro Flying Robots: From System Design to Autonomous Navigation and Mapping in GPS-Denied Environments.
IEEE Robotics Autom. Mag., 2014

Aerial-guided navigation of a ground robot among movable obstacles.
Proceedings of the 2014 IEEE International Symposium on Safety, 2014

Appearance-based Active, Monocular, Dense Reconstruction for Micro Aerial Vehicles.
Proceedings of the Robotics: Science and Systems X, 2014

Event-based, 6-DOF pose tracking for high-speed maneuvers.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

2-Point-based outlier rejection for camera-IMU systems with applications to micro aerial vehicles.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Monocular simultaneous multi-body motion segmentation and reconstruction from perspective views.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

REMODE: Probabilistic, monocular dense reconstruction in real time.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Micro air vehicle localization and position tracking from textured 3D cadastral models.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

ICP stereo visual odometry for wheeled vehicles based on a 1DOF motion prior.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

SVO: Fast semi-direct monocular visual odometry.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

A monocular pose estimation system based on infrared LEDs.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Low-latency event-based visual odometry.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013
Calibration by Correlation Using Metric Embedding from Nonmetric Similarities.
IEEE Trans. Pattern Anal. Mach. Intell., 2013

MAV urban localization from Google street view data.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Air-ground localization and map augmentation using monocular dense reconstruction.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Collaborative monocular SLAM with multiple Micro Aerial Vehicles.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Low-latency localization by active LED markers tracking using a dynamic vision sensor.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

RFID-based hybrid metric-topological SLAM for GPS-denied environments.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

1-Point-based monocular motion estimation for computationally-limited micro aerial vehicles.
Proceedings of the 2013 European Conference on Mobile Robots, 2013

2012
Special issue on micro-UAV perception and control.
Auton. Robots, 2012

Optimal surveillance coverage for teams of micro aerial vehicles in GPS-denied environments using onboard vision.
Auton. Robots, 2012


Robot localization using soft object detection.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

2011
Visual Odometry [Tutorial].
IEEE Robotics Autom. Mag., 2011

Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance.
J. Intell. Robotic Syst., 2011

Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM.
J. Intell. Robotic Syst., 2011

Vision Based Position Control for MAVs Using One Single Circular Landmark.
J. Intell. Robotic Syst., 2011

Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments.
J. Field Robotics, 2011

Performance evaluation of 1-point-RANSAC visual odometry.
J. Field Robotics, 2011

1-Point-RANSAC Structure from Motion for Vehicle-Mounted Cameras by Exploiting Non-holonomic Constraints.
Int. J. Comput. Vis., 2011

Exploiting motion priors in visual odometry for vehicle-mounted cameras with non-holonomic constraints.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

3D surveillance coverage using maps extracted by a monocular SLAM algorithm.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Closed-form solution for absolute scale velocity determination combining inertial measurements and a single feature correspondence.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

A novel parametrization of the perspective-three-point problem for a direct computation of absolute camera position and orientation.
Proceedings of the 24th IEEE Conference on Computer Vision and Pattern Recognition, 2011

Introduction to Autonomous Mobile Robots, Second Edition.
Intelligent robotics and autonomous agents, MIT Press, ISBN: 978-0-262-01535-6, 2011

2010
Closing the loop in appearance-guided omnidirectional visual odometry by using vocabulary trees.
Robotics Auton. Syst., 2010

On the initialization of statistical optimum filters with application to motion estimation.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

MAV navigation through indoor corridors using optical flow.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Improved appearance-based matching in similar and dynamic environments using a Vocabulary tree.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

A constricted bundle adjustment parameterization for relative scale estimation in visual odometry.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Vision based MAV navigation in unknown and unstructured environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Real-Time Monocular Visual Odometry for On-Road Vehicles with 1-Point RANSAC.
Proceedings of the Dynamic Maps, 12.09. - 17.09.2010, 2010

2009
A Robust Descriptor for Tracking Vertical Lines in Omnidirectional Images and Its Use in Mobile Robotics.
Int. J. Robotics Res., 2009

Scene recognition with omnidirectional vision for topological map using lightweight adaptive descriptors.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Absolute scale in structure from motion from a single vehicle mounted camera by exploiting nonholonomic constraints.
Proceedings of the IEEE 12th International Conference on Computer Vision, ICCV 2009, Kyoto, Japan, September 27, 2009

2008
Appearance-Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles.
IEEE Trans. Robotics, 2008

Performance evaluation of a vertical line descriptor for omnidirectional images.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Automatic detection of checkerboards on blurred and distorted images.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles.
Proceedings of the Computer Vision Systems, 6th International Conference, 2008

A Tale of Two Object Recognition Methods for Mobile Robots.
Proceedings of the Computer Vision Systems, 6th International Conference, 2008

2007
Extrinsic self calibration of a camera and a 3D laser range finder from natural scenes.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Robust Feature Extraction and Matching for Omnidirectional Images.
Proceedings of the Field and Service Robotics, Results of the 6th International Conference, 2007

2006
A Toolbox for Easily Calibrating Omnidirectional Cameras.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

A Flexible Technique for Accurate Omnidirectional Camera Calibration and Structure from Motion.
Proceedings of the 2006 IEEE International Conference on Computer Vision Systems, 2006

Automatic Self-calibration of a Vision System during Robot Motion.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

2005
Ball Detection and Predictive Ball Following Based on a Stereoscopic Vision System.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005


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