07/ /2008 Research and Teaching Assistant, Department of Mechanical and Process Engineering (D-MAVT), ETH Zurich, Switzerland

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1 Davide Scaramuzza Post-Doctoral Researcher, Lecturer, Scientific Manager of EU Project Project leader Autonomous System Lab ETH Zurich Nationality: Date of Birth: Place of Birth: URL: Address: Tel: Italian April 2, 1980 Terni, Italy Tannenstrasse 3, CLA E 14.2, ETHZ Zurich, Switzerland Education 03/ /2008 PhD in Robotics and Computer Vision, ETH Zurich. Duration of the PhD: 3 years. Thesis No ETH: Omnidirectional Vision: from Calibration to Robot Motion Estimation Advisor: Prof. R. Siegwart, Committee: Prof. P. Rives (INRIA), Prof. L. Van Gool (ETH Zurich) Laurea Degree (equivalent to Bachelor + Master) in Information and Electrical Engineering, 09/ /2004 University of Perugia, Italy. Distinction: 110/110 Summa Cum Laude and Dignity of Press + two awards (see below) Positions held 02/ today Current occupation: Post-doc, Lecturer, Scientific Manager, and Project Leader Department of Mechanical and Process Engineering (D-MAVT), ETH Zurich, Switzerland Lecturer of the M.Sc. course Autonomous Mobiles Robots Scientific Manager of the sfly European Project (FP7) Project Leader of the ETH team which will participate in the European Micro Aerial Vehicle competition. We will show an autonomous micro helicopter capable of exploring an apartment using only vision for navigation. Research activities in the field of vision based 3D mapping of urban environments and vision based navigation of micro-aerial vehicles 07/ /2008 Research and Teaching Assistant, Department of Mechanical and Process Engineering (D-MAVT), ETH Zurich, Switzerland 02/ /2006 Research and Teaching Assistant, Department of Microtechnique, EPFL Lausanne, Switzerland 10/ /2005 Internship Autonomous System Lab, EPFL Lausanne, Switzerland Research Interests My research field is omnidirectional computer vision and robotics. In particular: Omnidirectional visual odometry and 3D mapping in urban environments from outdoor ground vehicles IMU aided visual odometry for micro-aerial vehicles and flight stabilization Robust feature matching for place recognition and robot navigation Omnidirectional camera modeling and calibration Integration of vision with robotics sensors: laser range finders, odometry, and IMU Awards Winner of the 2005 FEDERCOMIN 1 -AICA 2 prize, the most prestigious Italian prize for the best Master thesis in the field of Information and Communication Technologies (ICT), October, 2005.

2 The prize was given by the Italian Minister for the Technological Innovation Lucio Stanca and by the CRUI (Conferenza dei Rettori delle Universita Italiane). 1 FEDERCOMIN: Federazione di Confindustria per le imprese delle comunicazioni e dell'informatica 2 AICA: Associazione Italiana per l'informatica ed il Calcolo Automatico Winner of the TOE (Ternana Opera Educatrice) prize as best Master student in his home town Terni, December Professional Activities Teaching Lecturer of the M.Sc. course Autonomous Mobile Robots, ETH Zurich, Co-lecturer with Prof. R. Siegwart of the M.Sc. course Autonomous Mobile Robots, ETH Zurich, Exercises of the M.Sc. course Autonomous Mobile Robots with Prof. R. Siegwart, ETH Zurich, Exercises in Robot Vision, with Prof. F. Mondada, EPFL, Lausanne, Exercises in C++, with Prof. Y. Piguet, EPFL, Lausanne, Invited speaker at international workshops/conferences International Workshop on Visual Mapping and Navigation in Outdoor Environments, hosted by the International Conference on Robotics and Automation, Kobe, Japan, May, 12, First International Workshop on Omnidirectional Robot Vision, November 4, 2008, Venice, Italy. Invited seminars Omnidirectional Vision: on calibration, feature extraction, and visual odometry for robotic applications, California Institute of Technology, Computational Vision Lab of Prof. P. Perona, Pasadena, CA, November 6, Feature extraction and visual odometry with an omnidirectional camera, Department of Information Processing and Electronics, University of Perugia, Perugia, Italy, October 24, On omnidirectional camera calibration and structure from motion, Swiss Federal Institute of Technology Lausanne (EPFL), Computer Vision Lab of Prof. P. Fua, December, Invited member of the program committee of International Conferences Robotics Science and Systems (RSS 2009) to be held in Seattle, Washington, July, 2009 Workshop on Omnidirectional Robot Vision (OmniROBOTVis 2009), held in Venice, Italy, November 4, Conference reviewer International Symposium of Robotics Research (ISRR 09) Robotics Science and Systems (RSS 09) German Workshop on Robotics (GWR 09) Workshop on Omnidirectional Robot Vision (OmniROBOTVis 09) IEEE Int. Conf. on Robotics and Automation (ICRA ) IEEE/RJS Int. Conf. on Intelligent Robots and Systems (IROS ) 8th Int. IFAC Symposium on Robot Control (SYROCO 06) IEEE Conf. on Automation Science and Engineering (CASE 07) Int. Conf. on Field and Service Robotics (FSR 07) Int. Workshop on Omnidirectional Robot Vision (OMNIROBOTVIS 08) Journal Reviewer Robotics and Autonomous Systems, Elsevier (RAS 09) Journal of Field Robotics (JFR 09) International Journal of Robotics Research (IJRR 09) Computer Vision and Image Understanding (CVIU 08) IET Computer Vision (2008) IEEE Transactions on Instrumentation and Measurement (2008) IEEE Transactions of Robotics (2008) Robotics and Automation Magazine (RAM 08) Elsevier, Pattern Recognition Letters (2008)

3 Involvement in European projects sfly: Swarm of Micro Flying robots. (Scientific Manager) I am the Scientific Manager of this project whose goal is the development of a team of micro helicopter capable of autonomous navigation and mapping in outdoor urban GPS denied environments Robots@home: An open Platform for Home Robotics My main activities are camera feature extraction, robot motion estimation, and floor detection for a home domestic robot Bayesian Approach to Cognitive Systems My main activities are camera-laser calibration and robot motion estimation in outdoor environments COGNIRON: The Cognitive Robot Companion My main activities were omnidirectional camera calibration, features extraction, laser-camera-odometry based robot motion estimation, and object recognition ELROB: First European Land Robot Trial My main activities were vision aided vehicle motion estimation, and camera-laser based 3D mapping RECSYS: Real-Time Embedded Control of Mobile Systems with Distributed Sensing My main activities were multi-robot localization, vision based robot detection, camera-odometry calibration. Licensed Software 08/2006 Omnidirectional Camera Calibration Toolbox for MATLAB, released under General Public License It is the first toolbox who appeared on-line for calibrating omnidirectional cameras (details on the PhD thesis). The toolbox is freely available from both my webpage and the Mathworks website. A rate of 30 downloads per month is reported on the Mathworks website. Since April 2006 this toolbox has been downloaded 13 thousand times from my webpage (source WebMeter and ClustrMaps). Over 40 citations have been reported from conference and journal papers (source Google and Google Scholar). This toolbox is also used by NASA, Daimler, Chrysler, Bosch, Philips which describe it as the best toolbox for calibrating omnidirectional cameras and the only able to calibrate fisheye cameras with field of view up to 190 degrees. The list of the correspondent persons at these companies can be given upon request. Patent under Development [1] Scaramuzza, D. and Siegwart, R, An Efficient Method for Estimating Car Motion and Absolute Scale from a Single Vehicle Mounted Camera, UNDER DEVELOPMENT, 2009.

4 List of publications for Davide Scaramuzza Books [1] Siegwart, R., Nourbakhsh, I., and Scaramuzza, D., Introduction to Autonomous Mobile Robots. A Bradford Book, The MIT Press, Cambridge, Massachusetts, London, England, the new edition will be published in JOURNALS [2] Scaramuzza, D., Fraundorfer, F., Pollefeys, M., and Siegwart, R., Closing the Loop in Appearance-Guided Omnidirectional Visual Odometry by Using Vocabulary Trees, Robotics and Autonomous System Journal (Elsevier), TO APPEAR [3] 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, [4] Scaramuzza, D. and Siegwart, R., Appearance-Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles. IEEE Transactions on Robotics, vol. 24, issue 5, October BOOK CHAPTERS [5] Scaramuzza, D. and Siegwart, R., Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles, In Springer Lecture Notes in Computer Science, Computer Vision Systems, ISBN: , May [6] 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: , May [7] 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: , March, [8] Scaramuzza, D. and Siegwart, R., A Practical Toolbox for Calibrating Omnidirectional Cameras. In Vision Systems Applications, ISBN , publisher I-Tech Education and Publishing, Vienna, Austria, June, 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. IEEE International Conference on Computer Vision (ICCV 2009), Kyoto, September-October, [10] 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 [11] 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, [12] Scaramuzza, D., Fraundorfer, F., Pollefeys, M., and Siegwart, R., 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, [13] 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), to appear, Nice, France, September [14] 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), to appear, Nice, France, September 2008.

5 [15] 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 [16] 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, [17] 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 [18] 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 [19] 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 [20] 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 [21] 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 WORKSHOPS [22] 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 [23] 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, [24] 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, PAPERS STILL UNDER REVIEW [25] Scaramuzza, D. and Siegwart, R. Fast Relative Pose Estimation with One Point Correspondence by Exploiting Nonholonomic Constraints, SUBMITTED TO International Journal on Computer Vision (IJCV) [26] Scaramuzza, D., Fraundorfer, F., Pollefeys, M., Siegwart, R. Closing the Loop in Appearance-Guided Omnidirectional Visual Odometry by Using Vocabulary Trees, SUBMITTED TO International Journal on Robotics and Autonomous Systems, [27] Scaramuzza, D., Fraundorfer, F., Pollefeys, M., Siegwart, R., Absolute Scale in Structure from Motion from a Single Vehicle Mounted Camera by Exploiting Nonholonomic Constraints, SUBMITTED TO International Conference on Computer Vision, [28] Fraundorfer, F., Scaramuzza, D., Siegwart, R., Pollefeys, M., Minimizing Image Reprojection Error For Relative Scale Estimation in Visual Odometry, SUBMITTED to the IEEE/RSJ International Conference on Intelligent Robots and Systems, [29] Liu, M., Scaramuzza D., Pradalier, C., Siegwart, R., Chen, Q., Scene Recognition with Omnidirectional Vision for Topological Map using Lightweight Adaptive Descriptors, SUBMITTED to the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.

6 TECHNICAL REPORTS [30] Scaramuzza, D. and Vetterli, M. Sparse Codes for Natural Images. Ecole Polytechnique Federal de Lausanne, EPFL, Lausanne, Switzerland, October MASTER THESIS [31] 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), Università di Perugia, Perugia, Italy, Thesis advisor: Prof. Paolo Valigi, July This thesis won the Italian best Master thesis award (AICA-FEDERCOMIN award) in 2005.