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Davide Scaramuzza
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Publications PhD Thesis
[1]
Scaramuzza, D. (2008). 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. This thesis was award the Robotdalen Scientific
Award, the most prestigious award for PhD theses in the field of robotics and
automation (link)
[abstract] [PDF] [BibTex] Journals
[2]
Scaramuzza, D., Fraundorfer, F., Pollefeys,
M. (2010), Closing the Loop in Appearance-Guided
Omnidirectional Visual Odometry by Using Vocabulary Trees, Robotics and Autonomous System Journal (Elsevier),
TO APPEAR in 2010. [PDF]
[video] [3]
Scaramuzza, D., Martinelli, A., Siegwart, R. (2009) 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. [Web link] [abstract] [PDF] [video] [MATLAB Code] [4]
Scaramuzza, D., Siegwart, R. (2008), Appearance Guided Monocular
Omnidirectional Visual Odometry for Outdoor Ground Vehicles. IEEE Transactions on Robotics, vol. 24, issue 5, October 2008. [Web link] [abstract] [PDF] [BibTex] [video1, video2, video3_with_loop_closing] Book Chapters
[5] Scaramuzza, D., Siegwart, R. (2008), 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. [Web link] [abstract]
[PDF] [BibTex] [6] Ramisa, A., Vasudevan, S., Scaramuzza, D., De Mantaras, R.L., Siegwart, R. (2008), 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. [Web link] [abstract]
[PDF] [BibTex] [7] Scaramuzza, D., Criblez, N., Martinelli, A., Siegwart, R. (2008), 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. [Web link] [abstract]
[PDF] [BibTex]
[video] [8]
Scaramuzza, D., Siegwart, R. (2007), A Practical Toolbox for Calibrating
Omnidirectional Cameras. In Vision
Systems Applications, ISBN 978-3-902613-01-1, edited by Goro Obinata and
Ashish Dutta, publisher I-Tech Education and Publishing, Vienna, Austria,
June, 2007. [ARS] [abstract]
[Web link] [PDF] [BibTex] Peer-reviewed Proceedings
[9] 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, ACCEPTED. To be presented in IEEE International Conference on Computer
Vision (ICCV 2009), Kyoto, October, 2009. [ICCV'09] [PDF] [Video] [10] Liu M., Scaramuzza, D., Pradalier, C., Siegwart, R., and Chen, Q., Scene
Recognition with Omnidirectional Vision for Topological Map using Lightweight
Adaptive Descriptors, Proceedings of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS 2009), St
Louis, Missouri, USA, October 2009. [IROS’09] [PDF] [11] Scaramuzza, D., Fraundorfer, F., and Siegwart, R., Real-Time
Monocular Visual Odometry for On-Road Vehicles with 1-Point RANSAC,
ACCEPTED. To be presented in IEEE
International Conference on Robotics and Automation (ICRA 2009), Kobe,
Japan, 16 May, 2009. [ICRA'09]
[PDF] [Video] [12] Scaramuzza, D., Siegwart, R. (2008), Performance
Evaluation of a Vertical Line Descriptor for Omnidirectional Images, Proceedings
of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, September 2008. [IROS’08]
[abstract] [PDF] [BibTex] [13] Rufli, M., Scaramuzza, D., Siegwart, R. (2008), Automatic
Detection of Checkerboards on Blurred and Distorted Images, Proceedings
of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, September 2008. [IROS’08]
[abstract] [PDF] [BibTex] [14] Scaramuzza, D., Harati, A., Siegwart, R. (2007), Extrinsic
Self Calibration of a Camera and a 3D Laser Range Finder from Natural Scenes, Proceedings
of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), San Diego, USA, October 2007. [IROS’07]
[Web link] [abstract] [PDF] [BibTex]
[video] [15] Scaramuzza, D., Criblez, N., Martinelli, A., Siegwart, R. (2007), Robust
Feature Extraction and Matching for Omnidirectional Images, Proceedings of the 6th International
Conference on Field and Service Robotics, July, 2007. [FSR’07]
[abstract]
[PDF] [BibTex] [16] Scaramuzza, D., Martinelli, A. Siegwart, R. (2006), A Toolbox for Easily Calibrating
Omnidirectional Cameras, Proceedings
of the IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS 2006), Beijing, China, October 2006. [IROS’06] [Web link] [abstract] [PDF] [BibTex] [17] Martinelli, A., Scaramuzza, D., Siegwart, R. (2006) Automatic
Self-Calibration of a Vision System during Robot Motion. Proceedings of IEEE International
Conference on Robotics and Automation (ICRA 2006), [18] Scaramuzza, D., Martinelli, A., Siegwart, R. (2006) A Flexible Technique for Accurate
Omnidirectional Camera Calibration and Structure from Motion. Proceedings of IEEE International
Conference on Computer Vision Systems (ICVS 2006), [19] Scaramuzza, D., Martinelli, A., Siegwart, R. (2005) Precise Bearing Angle Measurement Based on
Omnidirectional Conic Sensor and Defocusing. Proceedings of European Conference on Mobile Robots (ECMR 2005),
Ancora, Italy, September 2005. [ECMR'05] [Web link] [abstract] [PDF] [BibTex] [20] Scaramuzza, D., Pagnottelli S. Valigi P. (2005) Ball
Detection and Predictive Ball Following Based on a Stereoscopic Vision System.
Proceedings of IEEE International Conference
on Robotics and Automation (ICRA 2005), Workshops
[21] Scaramuzza, D. (2009), Omnidirectional Vision: from Calibration to
Robot Motion Estimation, (2009). Invited
Speaker at the Robotdalen Day,
Vasteras, Sweden, September 9, 2009. [Workshop] [22] Scaramuzza, D. (2009), Omnidirectional Vision: from Calibration to
Robot Motion Estimation, (2009). Invited
Speaker at the Swedish Workshop on
Robotics, Vasteras, Sweden,
September 8, 2009. [Workshop] [23] Triebel, R., Scaramuzza, D., Rufli, M, Spinello, L., Pomerleau, F., Siegwart,
R. (2009), 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 2009). [Workshop]
[PDF] [24] Triebel, R., Scaramuzza, D., Rufli, M, Spinello, L., Pomerleau, F., Siegwart,
R. (2009), Key Technologies for
Intelligent and Safer Cars from Motion
Estimation to Predictive Motion Planning, Workshop Fahrerassistenzsysteme (German Workshop on car driving
assistance systems), 2009. [Workshop] [PDF] [25] Scaramuzza, D. (2009) Invited Speaker at the International
Workshop on Visual Mapping and
Navigation in Outdoor Environments, hosted at ICRA’09, Kobe, Japan, May
12, 2009. [Workshop] [26] Scaramuzza, D., Siegwart, R. (2008) Correcting Vehicle Heading in Visual Odometry by
Using Image Appearance, First International Workshop on
Omnidirectional Robot Vision, Venice, November, 2008. [OmniRobotVis08] [abstract] [PDF] [BibTex] [27] Scaramuzza, D., Siegwart, R. (2007) A New Method and Toolbox for Easily
Calibrating Omnidirectional Cameras. Proceedings
of the International Conference on Computer Vision Systems, workshop on
Camera Calibration Methods for Computer Vision Systems. (ICVS 2007),
Bielefeld, Germany, March 2007. [ICVS'07] [Web link] [abstract] [PDF] [BibTex] Technical Reports
[28] Scaramuzza, D., Vetterli, M. (2005) Sparse
Codes for Natural Images. Ecole Polytechnique Federal de Lausanne, EPFL, Lausanne, Switzerland, October
2005. [abstract] [PDF] [PPT]
[BibTex] Master Thesis (Tesi di Laurea)
[29] Scaramuzza, D. (2004). “Progetto e realizzazione di un sistema di visione stereoscopica
per la robotica, con applicazione all’inseguimento di corpi in moto e
all’autolocalizzazione” (English
translation: 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
dell’Informazione (DIEI), Università di Perugia, Perugia, Italy, Theis
advisor: Prof. Paolo Valigi, July 2004. This thesis won the Italian best Master thesis award
AICA-FEDERCOMIN in 2005. [PDF (Italian)] [BibTex] |
