Davide Scaramuzza

Post-Doctoral Researcher, Coordinator of EU Project GRASP Lab University of Pennsylvania

Nationality: Date of Birth: Place of Birth: URL:

Italian April 2, 1980 Terni, Italy http://robotics.ethz.ch/~scaramuzza/ Davide_Scaramuzza.htm davide.scaramuzza@ieee.org Department of Computer and Information Science, University of Pennsylvania, 3330 Walnut Street, Levine Hall, Philadelphia, PA, 19104, USA Italian (native), English, French, German

E-mail: Address:

Languages

Education
03/2005 - 02/2008 PhD in Robotics and Computer Vision, ETH Zurich. Duration of the PhD: 3 years. Thesis no. 17635 ETH. Title: Omnidirectional Vision: from Calibration to Robot Motion Estimation Advisor: Prof. R. Siegwart. Committee: Prof. P. Rives (INRIA), Prof. L. Van Gool (ETH Zurich) Distinction: Robotdalen Scientific Award (20,000 Euros) supported by IEEE and EU (see below) and finalist at the George Giralt Euron PhD Award. Laurea Degree (equivalent to Bachelor + Master) in Electronics and Information Engineering, University of Perugia, Italy. Distinction: 110/110 Summa Cum Laude and Dignity of Printing + two awards: Federcomin-Aica Award (Italian best Master thesis Award, given by Confindustria, prize amount: 5,000 Euros) and TOE Award (800 Euros), see below.

09/1999 - 07/2004

Positions held
01/2011 Today Post-doc, lecturer, and EU project coordinator. University of Pennsylvania Department of Computer and Information Science, School of Engineering and Applied Science, GRASP Lab (General Robotics, Automation, Sensing and Perception), University of Pennsylvania, Philadelphia, USA. Employers: Prof. Dr. Vijay Kumar and Prof. Dr. Kostas Daniilidis
Scientific coordinator of the European project sFly (FP7) Research activities in the field of ground and flying robot navigation in GPS-denied urban environments

02/2008 12/2010

Post-doc, Lecturer, EU project coordinator, and Project Leader. ETH Zurich Department of Mechanical and Process Engineering (D-MAVT), Institute for Robotics and Intelligent Systems. Autonomous Systems Lab (ASL), ETH Zurich, Switzerland. Employer: Prof. Dr. Roland Siegwart
Lecturer of the M.Sc. course Autonomous Mobiles Robots Scientific coordinator of the European project sFly (FP7) nd Project Leader of the ETH-Emaverick team, which won the 2 place in the European Micro Aerial Vehicle competition. I supervised a group of three PhD students Research activities in the field of: autonomous car navigation, simultaneous localization and mapping, autonomous navigation of micro-aerial vehicles in GPS-denied environments.

10/2009 12/2009

Invited research scientist at the Council for Scientific and Industrial research (CSIR), Pretoria, South Africa, Department of Modeling and Digital Sciences, MIAS Lab (Mobile Intelligent Autonomous Systems). Employer: Dr. Simukai Utete
I worked on a mine inspection with infrared cameras and path planning for an off-road holonomic vehicle

07/2006 02/2008

Research and Teaching Assistant (PhD student). ETH Zurich, Employer: Prof. Dr. Roland Siegwart Department of Mechanical and Process Engineering (D-MAVT), ETH Zurich, Switzerland Research and Teaching Assistant (PhD student). EPF Lausanne, Employer: Prof. Dr. Roland Siegwart Department of Microtechnique, EPFL Lausanne, Switzerland Internship. EPF Lausanne Autonomous System Lab, EPFL Lausanne, Switzerland, Employer: Prof. Dr. Roland Siegwart

02/2005 07/2006

10/2004 02/2005

Research Interests
My research fields are computer vision and robotics. In particular: Autonomous car navigation with laser and vision in GPS-denied environments Autonomous micro-aerial vehicle navigation with vision and IMU Visual Simultaneous Localization And Mapping (V-SLAM) Sensor modeling, fusion, and self-calibration: laser range finders, odometry, and IMU

Professional Activities
Teaching
2010 ETH Zurich Lecturer of the Master course Autonomous Mobile Robots http://www.asl.ethz.ch/education/master/mobile_robotics

2009 ETH Zurich

Lecturer of the Master course Autonomous Mobile Robots The course was organized as above. Lecturer of the Master course Autonomous Mobile Robots The course was organized as above. I gave a two-hour lecture and a two-hour practical exercise on computer vision in the Master course Autonomous Mobile Robots Two-hour practical exercises in C++ for the course Microinformatique II of Dr. Francesco Mondada Two-hour practical exercises in C++ for the course Microinformatique II of Dr. Yves Piguet

2008 ETH Zurich

2007 ETH Zurich

2006 EPFL 2005 EPFL

Awards
In September 2009, my PhD thesis won the Robotdalen Scientific Award (20,000 Euros in prize money). This prize goes every year to the best PhD thesis, worldwide, in the field of robotics and automation, with the largest social, economical and industrial impact. The prize is sponsored by the European Union, the IEEE Instrumentation and Measurement Society, ABB, Volvo, and many other industries. o Link to the press release in the IEEE Robotics and Automation Society
http://www.ieee-ras.org/news/192/ETH-Zurich--researcher-receives-Robotdalen-Scientific-Award.html

o o

Link to the article in ETH Life (the ETH internal newspaper) (German only).
http://www.ethlife.ethz.ch/archive_articles/090918_robotdalen_lul/index

Link to the press release by Robotdalen

http://www.robotdalen.se/English/News/2009/Advanced-algorithms-gave--20-000-in-prize-money/

My thesis was also invited to be published as a book for the series Springer Tracts in Advanced Robotics. This book is in preparation. In February 2010, my PhD thesis was among the finalist of the George Giralt EURON PhD award. This prize is sponsored by EURON (the European Robotics Research Network). Link: http://www.euron.org/activities/phdaward In September 2009, my team was 2 place winner at the European Micro Aerial Vehicle competition (EMAV09) in Delft (link: www.emav2009.org/competition.html). The team was composed of four bachelor students, three PhD students, and myself (as team leader). The competition consisted in entering and exiting a small apartment. We were the only team demonstrating autonomous navigation using just a single camera and no other sensor for take-off, hovering, navigation, and landing. In October 2005, I was winner of the 2005 FEDERCOMIN -AICA prize (5,000 Euros in prize money), the most prestigious Italian prize for the best Master thesis in ICT (Information and Communications Technology). Federcomin is a branch of Confindustria, the confederation of Italian industry. The prize was presented by the then Italian Minister for Technological Innovation Lucio Stanca and by the CRUI (Conferenza dei Rettori delle Universit Italiane). Link to the press release (Italian only): http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/biography/press_article_federcomin.pdf. An article about this award also appeared in the internal magazine of the EPFL: FLASH, 17 January 2006, No. 1, page 11.
1 2 nd

1 2

FEDERCOMIN: Federazione di Confindustria per le imprese delle comunicazioni e dell'informatica. AICA: Associazione Italiana per l'Informatica ed il Calcolo Automatico

Winner of the TOE (Ternana Opera Educatrice) prize (800 Euros in prize money) as best Master student in my home town Terni, December 2004.

Organization of summer schools and international workshops

Summer school on Autonomous micro aerial vehicles: design, perception, and control to be held from 4 to 8 July 2011 in Zurich. Organized within the IARU Global summer program. Co-organized with Prof. Roland Siegwart. First international workshop on Micro-UAV Perception and Control co-organized with Prof. Dr. Vijay Kumar and Dr. Nathan Michael (University of Pennsylvania), ICRA11, Shanghai.

Invited speaker at international workshops/conferences

International Mechanical Engineering Congress IMPULSO, (keynote speaker) Monterrey, Mexico, November, 2011. Workshop on 3D Exploration, Mapping, and Surveillance with Aerial Robots (RSS11), Los Angeles, 2011. Workshop on Micro-UAV Perception and Control (ICRA11), Shanghai, May, 2011. Workshop on 3-D Exploration, Mapping, and Surveillance with Aerial Robots, (RSS11), Los Angeles, June, 2011. Workshop on continuous geopositioning of individuals, organized by Armasuisse (the Swiss army), Thun, Switzerland, September, 2010. IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR10) (keynote speaker), Bremen, Germany, July, 2010 Brazilian Symposium on Robotics and Mechatronics (SEMATRON10) (keynote speaker), Sao Paulo, June, 2010. Workshop on Omnidirectional Robot Vision (keynote speaker), held during ICRA10, Anchorage, Alaska, May, 2010 Workshop on Communication, Control, and Perception for Teams of Small Robots, held during ICRA10, Anchorage, Alaska, May, 2010. Workshop on Good Experimental Methodology and Benchmarking in Robotics Research (GEMBENCH10) held during the EURON-EUROP symposium, San Sebastian, Spain, March, 2010. International Conference on Cognitive Systems (CogSys09), Zurich, Switzerland, January 2010. South-African Conference on Pattern Recognition (PRASA09) (keynote speaker), Cape Town, December, 2009. South-African Conference on Robotics, Johannesburg (keynote speaker), November 9, 2009. Swedish Workshop on Robotics, Vasteras, Sweden, September 8, 2009. International Workshop on Visual Mapping and Navigation in Outdoor Environments, hosted by the International Conference on Robotics and Automation, Kobe, Japan, May, 12, 2009. First International Workshop on Omnidirectional Robot Vision, November 4, 2008, Venice, Italy.

Invited seminars
University of Zurich, (inviter Prof. Rolf Pfeifer), February, 2011. Invited talk at the Einfhrungstag fr Master-Studierende (inviter Prof. Dr. Heidi Wunderli-Allenspach, rector of ETH Zurich), ETH Zurich, September 2010. Dynamic maps seminar (inviters Prof. Marc Pollefeys, Prof. Wolfram Burgard, Prof. Luc Van Gool), Dagstuhl, Germany, September, 2010. GRASP Lab, University of Pennsylvania (inviters Prof. Kostas Daniilidis and Profl. Vijay Kumar, Philadelphia, US, July, 2010 Italian National Center of Research (CNR), Bari, July, 2010. NASA Jet Propulsion Laboratory (JPL), (inviter Dr. Larry Matthies), Pasadena, US, May, 2010. University of California Los Angeles (UCLA), (inviter Prof. Stefano Soatto), Vision Lab, Los Angeles, US, May, 2010 Caltech, NESS seminar series, (inviter Prof. Pietro Perona), US, May, 2010 University of Southern California (USC), (inviter Prof. Gaurav Sukhatme), Los Angeles, US, May, 2010. Stanford University, Artificial Intelligence Lab, (inviter Prof. Oussama Khatib), US, May, 2010. Willow Garage, Menlo Park, (inviter Dr. Kurt Konolige), US, May, 2010. Technical University of Crete, Chania, (inviter Prof. Dimitrios Rovas) Greece, April, 2010. Department of Information Engineering, (inviter Prof. Emanuele Menegatti), University of Padua, Italy, February, 2010. Caltech, Computational Vision Lab (inviter Prof. Pietro Perona), Pasadena, CA, November 6, 2007. Department of Information Processing and Electronics, (inviter Prof. Paolo Valigi) University of Perugia, Italy, October, 2007. INRIA, Grenoble, (inviter Prof. Christian Laugier), Grenoble, France, January, 2007. Swiss Federal Institute of Technology Lausanne (EPFL), (inviter Prof. Pascal Fua) Computer Vision Lab, December, 2005.

Invited member of the program committee of International workshops/conferences

IEEE Workshop on Challenges and Opportunities in Robot Perception, ICCV11, Barcelona, November, 2011. International Workshop on Collaborative Robots and Human Robot Interaction, held during the International Conference on Collaboration Technologies and Systems (CTS 2011) Philadelphia, May, 2011 Robotics Science and Systems (RSS 2011) to be held in Los Angeles, June, 2011. International Workshop on Omnidirectional Vision (OMNIVIS 2010), held during Robotics Science and Systems (RSS11), Zaragoza, Spain, June, 2010. International Workshop on Omnidirectional Robot Vision (OmniROBOTVis 2010), held during International Conference on on Robotics and Automation (ICRA10), Anchorage, Alaska, May, 2010. Robotics Science and Systems (RSS 2009), Seattle, Washington, July, 2009. International Workshop on Omnidirectional Robot Vision (OmniROBOTVis 2008), held during the International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR08), Venice, Italy, November 4, 2008.

Conference reviewer
IEEE Int. Conf. on Robotics and Automation (ICRA06-07-08-09-10-11) IEEE/RJS Int. Conf. on Intelligent Robots and Systems (IROS06-07-08-09-10) Robotics Science and Systems (RSS09-11) 8th Int. IFAC Symposium on Robot Control (SYROCO06) IEEE Conf. on Automation Science and Engineering (CASE07) Int. Conf. on Field and Service Robotics (FSR07) German Workshop on Robotics (GWR09) International Conference on Unmanned Aerial Vehicles (UAV10) International Symposium of Robotics Research (ISRR09) International Conference on Computer Vision (ICCV11) European Conference on Computer Vision (ECCV10) International Conference on Computer Vision and Pattern Recognition (CVPR10-11) Workshop on Omnidirectional Robot Vision (OmniROBOTVis08-10)

Journal Reviewer
IEEE Transactions of Robotics (TRO08-09-10-11) Autonomous Robots (2010) Journal of Field Robotics (JFR09-10) International Journal of Robotics Research (IJRR09) Robotics and Automation Magazine (RAM08) Journal of Image and Vision Computing (IMAVIS10) Robotics and Autonomous Systems, Elsevier (RAS09) EURASIP Journal on Image and Video Processing (EURASIP09) Computer Vision and Image Understanding (CVIU08) IET Computer Vision (IET08) IEEE Transactions on Instrumentation and Measurement (2008) Elsevier, Pattern Recognition Letters (2008, 2010)

Research activities within European projects

2009-today sFly: Swarm of Micro Flying robots (activity as the Technical Project Manager) www.sfly.org
This project is currently on-going. The goal of this project is swarm navigation of micro helicopters in outdoor, urban GPS-denied environments. My research activity is autonomous flight using vision and inertial sensors. I am the technical manager of this project. Besides being responsible of the integration of the all five European partners, I organize project and review meetings, integration weeks and deliverables and I have also constant communication with the European commission.

2007-2009

Robots@home: An open Platform for Home Robotics, http://robots-at-home.acin.tuwien.ac.at

My main activities were camera feature extraction, object recognition, and floor detection for a home domestic robot.

2007-2009

BACS: Bayesian Approach to Cognitive Systems, http://www.bacs.ethz.ch

My main activities were camera-laser calibration and robot motion estimation in outdoor environments.

2006-2007

COGNIRON: The Cognitive Robot Companion, http://www.cogniron.org/final/Home.php

My main activities were omnidirectional-camera calibration, feature extraction, and object recognition.

2004-2005

RECSYS: Real-Time Embedded Control of Mobile Systems with Distributed Sensing, http://recsys.s3.kth.se
My main activities were multi-robot localization, vision based robot detection, camera-odometry calibration.

International Competitions
2009 EMAV: European Micro Aerial Vehicle Competition, http://projects.asl.ethz.ch/emav09/doku.php?id=Home
I was the team leader. The team was composed of four bachelor students and three PhD students. We won the 2 place at this competition. The competition consisted in entering and exiting a small apartment. We were the only team demonstrating autonomous navigation using a single camera for take-off, hovering, navigation, and landing.
nd

2006

ELROB: First European Land Robot Trial, http://www.elrob.org/melrob/melrob2006.html

My main activities were vision aided vehicle motion estimation, and camera-laser based 3D mapping.

Licensed Software
08/2006 Omnidirectional Camera Calibration Toolbox for MATLAB, released under General Public License. This is the first open-source toolbox appeared on-line for calibrating omnidirectional cameras (details in my PhD thesis). The toolbox is freely available from my webpage. A rate of 30 downloads per month is reported on my website. Since April 2006 this toolbox has been downloaded 16 thousand times from my webpage (source WebMeter and ClustrMaps). Over 100 citations have been reported from conference and journal papers (source Google and Google Scholar). This toolbox was also selected as one of my key contributions by the jury of the Robotdalen Scientific Award. This toolbox found several industrial applications in robotics, automotive, endoscopic imagery, meteorology, and aerial photography. It is currently used at NASA Langley Research Center, Xsens, Daimler, Bosch, Philips. Other companies using it are: IDS Imaging GmbH (German firm specialized in cameras for video surveillance), Endo Tools Therapeutics (Belgian company specialized in endoscopic imagery), and Dacuda AG (a spinoff of ETH Zurich for which I have worked as a consultant for two years). The list of the correspondent persons at these companies can be given upon request.

List of Publications for Davide Scaramuzza

The PDFs of the following articles can be found on my webpage:

BOOKS

[1]

Siegwart, R., Nourbakhsh, I., and Scaramuzza, D., Introduction to Autonomous Mobile Robots, Second Edition. A Bradford Book, The MIT Press, ISBN: 978-0-262-01535-6, February, 2011. This book is the second edition of the homonym popular book authored in 2004 by Siegwart and Nourbakhsh. I was the main author of this second edition. In particular I added 150 pages of new material, from robot locomotion to sensors and perception, from localization and mapping to path planning. This material was mainly inspired by the course I gave at the master level between 2008 and 2010 at ETH Zurich. Book webpage at MIT Press,
http://mitpress.mit.edu/catalog/item/default.asp?ttype=2&tid=12556

Main book webpage

http://www.mobilerobots.org/

PHD THESIS

[2] Scaramuzza, D. Omnidirectional Vision: from Calibration to Robot Motion Estimation, 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. In September 2009, this thesis was awarded the Robotdalen Scientific Award (20,000 Euros in prize money): worldwide prize for the best thesis in the fields of robotics and automation with the largest social, economical, and industrial impact, sponsored by the European Union and the IEEE. This thesis was also among the finalist of the George Giralt Euron PhD Award. My thesis was also invited to be published as a book for the series Springer Tracts in Advanced Robotics. This book is in preparation.

JOURNALS

[3] Scaramuzza, D., A Performance Evaluation of 1-Point-RANSAC Visual Odometry, Journal of Field Robotics, ACCEPTED, 2011. [4] Weiss., S., Scaramuzza, D., Siegwart, R., Monocular-SLAM-Based Navigation for Autonomous Micro Helicopters in GPSDenied Environments, Journal of Field Robotics, ACCEPTED, 2011. [5] Scaramuzza, D., 1-Point-RANSAC Structure from Motion for Vehicle-Mounted Cameras by Exploiting Non-holonomic Constraints, International Journal of Computer Vision, vol. 95, issue 1, 2011. (journal impact factor in 2010: 5,36). [6] Eberli, D., Scaramuzza, D., Weiss, S., and Siegwart, R., Vision based Position Control for MAVs using one single Circular Landmark, Journal of Intelligent and Robotic Systems, Springer, Vol. 61, issue 1-4, January, 2011. [7] Weiss, S., Achtelik, M., Kneip, L., Scaramuzza, D., and Siegwart, R., Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance, Journal of Intelligent and Robotic Systems, Springer, Vol. 61, issue 1-4, January, 2011. [8] G. Nuetzi, Weiss, S., Scaramuzza, D., and Siegwart, R., Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM, Journal of Intelligent and Robotic Systems, Springer, Vol. 61, issue 1-4, January, 2011. [9] Scaramuzza, D., Fraundorfer, F., and Pollefeys, M., Closing the Loop in Appearance-Guided Omnidirectional Visual Odometry by Using Vocabulary Trees, Robotics and Autonomous System Journal (Elsevier), vol. 58, issue 6, June, 2010.

[10] Scaramuzza, D., Martinelli, and Siegwart, R., A Robust Descriptor for Tracking Vertical Lines in Omnidirectional Images and its Use in Mobile Robotics, International Journal on Robotics Research, vol. 28, issue 2, February, 2009. [11] Scaramuzza, D. and Siegwart, R., Appearance-Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles. IEEE Transactions on Robotics, vol. 24, issue 5, October 2008.

BOOK CHAPTERS

[12] Scaramuzza, D., Omnidirectional Camera, In Encyclopedia of Computer Vision, Springer, to APPEAR in 2012. [13] Scaramuzza, D. and Siegwart, R., Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles, In Springer Lecture Notes in Computer Science, Computer Vision Systems, ISBN: 978-3-540-79546-9, May 2008. [14] Ramisa, A., Vasudevan, S., Scaramuzza, D., De Mantaras, R.L., and Siegwart, R., A Tale of Two Object Recognition Methods for Mobile Robots, In Springer Lecture Notes in Computer Science, Computer Vision Systems, ISBN: 978-3-540-79546-9, May 2008. [15] Scaramuzza, D., Criblez, N., Martinelli, A. and Siegwart, R., Robust Feature Extraction and Matching for Omnidirectional Images, in Springer Tracts in Advanced Robotics, Field and Service Robotics, ISBN: 978-3-540-75403-9, March, 2008. [16] Scaramuzza, D. and Siegwart, R., A Practical Toolbox for Calibrating Omnidirectional Cameras. In Vision Systems Applications, ISBN 978-3-902613-01-1, publisher I-Tech Education and Publishing, Vienna, Austria, June, 2007.

PEER-REVIEWED PROCEEDINGS

[17] Scaramuzza, D., Censi, A., Daniilidis, K., Exploiting Motion Priors in Visual Odometry for Vehicle-Mounted Cameras with Nonholonomic Constraints, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, September, 2011. [18] Doitsidis, L., Renzaglia, A., Weiss, S., Kosmatopoulos, E., Scaramuzza, D., Roland Siegwart, Coverage Using Maps Extracted by a Monocular SLAM Algorithm, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, September, 2011. [19] Kneip, L., Scaramuzza, D., and Siegwart, R. 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. [20] Kneip, L., Martinelli, A., Weiss, S., Scaramuzza D., Siegwart R., 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. [21] Kneip, L., Scaramuzza, D., Siegwart, R., 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. [22] Scaramuzza, D., Spinello, L., Triebel, R., Siegwart, R., Key Technologies for Intelligent and Safer Cars from Motion Estimation to Predictive Motion Planning, IEEE International Conference on Industrial Electronics, Bari, Italy, July, 2010. [23] Weiss, S., Achtelik, M., Kneip, L., Scaramuzza, D., Siegwart, R., Intuitive 3D Maps for MAV Terrain Exploration and Obstacle Avoidance, International Conference on Unmanned Aerial Vehicles (UAV'10), Dubai, June, 2010. [24] Nuetzi, G., Weiss, S., Scaramuzza, D., Siegwart, R., Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM, International Conference on Unmanned Aerial Vehicles (UAV'10), Dubai, June, 2010. [25] Eberli, D., D. Scaramuzza, Weiss, S., Siegwart, R., Vision based Position Control for MAVs using one single Artificial Landmark, International Conference on Unmanned Aerial Vehicles (UAV'10), Dubai, June, 2010

[26] Sabatta, D., Scaramuzza, D., and Siegwart, R., 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. [27] Fraundorfer, F., Scaramuzza, D., Pollefeys, M., 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. [28] Blsch, M., Weiss, S., Scaramuzza, D., and Siegwart, R., Vision Based MAV Navigation in Unknown and Unstructured Environments, IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May, 2010. [29] Zingg, S., Scaramuzza, D., Weiss, S., and Siegwart, R., MAV Navigation through Indoor Corridors Using Optical Flow , IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May, 2010. [30] Scaramuzza, D., Fraundorfer, F., Pollefeys, M., and Siegwart, R., 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. [31] Liu M., Scaramuzza, D., Pradalier, C., Siegwart, R., and Chen, Q., 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. [32] Scaramuzza, D., Fraundorfer, F., and Siegwart, R., 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. [33] Scaramuzza, D., Fraundorfer, F., Pollefeys, M., and Siegwart, R., Closing the Loop in Appearance-Guided Structure-fromMotion for Omnidirectional Cameras, European Conference on Computer Vision (ECCV08), Eighth Workshop on Omnidirectional Vision (OMNIVIS08), Marseille, France, October, 2008. [34] Scaramuzza, D., and Siegwart, R., 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. [35] Rufli, M., Scaramuzza, D., and Siegwart, R. (2008), Automatic Detection of Checkerboards on Blurred and Distorted Images, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, September 2008. [36] Scaramuzza, D., Harati, A., and Siegwart, R., 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. [37] Scaramuzza, D., Criblez, N., Martinelli, A. and Siegwart, R., Robust Feature Extraction and Matching for Omnidirectional Images, 6th International Conference on Field and Service Robotics (FSR 2007), Chamonix, France, July, 2007. [38] Scaramuzza, D., Martinelli, A. and Siegwart, R., A Toolbox for Easily Calibrating Omnidirectional Cameras, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), Beijing, China, October 2006. [39] Martinelli, A., Scaramuzza, D., Siegwart, R. Automatic Self-Calibration of a Vision System during Robot Motion. IEEE International Conference on Robotics and Automation (ICRA 2006), Orlando, USA, May 2006. [40] Scaramuzza, D., Martinelli, A. and Siegwart, R. 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. [41] Scaramuzza, D., Martinelli, A. and Siegwart, R. Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing, European Conference on Mobile Robots (ECMR 2005), Ancona, Italy, September 2005. [42] Scaramuzza, D., Pagnottelli S. and Valigi P. 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.

WORKSHOPS

[43] Scaramuzza, D., Omnidirectional Vision: Calibration, Motion Estimation, and Autonomous Flight of Micro Helicopters, INVITED SPEAKER at the International Workshop on Omnidirectional Robot Vision, Anchorage, Alaska, May, 2010. [44] Triebel, R., Scaramuzza, D., Rufli, M, Spinello, L., Pomerleau, F., Siegwart, R., Key Technologies for Intelligent and Safer Cars from Motion Estimation to Predictive Motion Planning, Workshop on Visual Navigation for Intelligent Vehicles, hosted by the International Conference on Intelligent Robots and Systems (IROS), October, 2009. [45] Triebel, R., Scaramuzza, D., Rufli, M, Spinello, L., Pomerleau, F., Siegwart, R., Key Technologies for Intelligent and Safer Cars from Motion Estimation to Predictive Motion Planning, Workshop Fahrerassistenzsysteme (German Workshop on car driving assistance systems), October, 2009. [46] Scaramuzza, D., Omnidirectional Vision: from Calibration to Robot Motion Estimation, INVITED SPEAKER at the Swedish Workshop on Robotics, Vasteras, Sweden, September 8, 2009. [47] Scaramuzza, D. and Siegwart, R. Fast Relative Pose Estimation with One Point Correspondence by Exploiting Nonholonomic Constraints, INVITED SPEAKER, workshop on Visual Mapping and Navigation in Outdoor Environments, hosted by the International Conference on Robotics and Automation, Kobe, Japan, May, 2009. [48] Scaramuzza, D. and Siegwart, R. Correcting Vehicle Heading in Visual Odometry by Using Image Appearance, First International Workshop on Omnidirectional Robot Vision, INVITED SPEAKER, Venice, Italy, November, 2008. [49] Scaramuzza, D. and Siegwart, R. A New Method and Toolbox for Easily Calibrating Omnidirectional Cameras. International Conference on Computer Vision Systems, workshop on Camera Calibration Methods for Computer Vision Systems. (ICVS 2007), Bielefeld, Germany, March 2007.

TECHNICAL REPORTS [50] Scaramuzza, D. and Vetterli, M. Sparse Codes for Natural Images. Ecole Polytechnique Federal de Lausanne, EPFL, Lausanne, Switzerland, October 2005.

MASTER THESIS [51] Scaramuzza, D. Design and realization of a Stereoscopic Vision System for Robotics, with applications to tracking of moving objects and self-localization, Dipartimento di Ingegneria Elettronica e Informazione (DIEI), Universit di Perugia, Perugia, Italy, Thesis advisor: Prof. Paolo Valigi, July 2004. This thesis won the Italian best Master thesis award (AICA-FEDERCOMIN award) in 2005.