Publications de Davide Scaramuzza

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Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

Does gravity affect decision-making? This question comes into sharp focus as plans for interplanetary human space missions solidify. In the framework of Bayesian brain theories, gravity encapsulates a strong prior, anchoring agents to a reference frame via ...

In this paper we describe an efficient software architecture for object-tracking, based on a stereoscopic vision system, that has been applied to a mobile robot controlled by a PC. After analyzing the epipolar rectification required to correct the original ...

Recent studies on multi-robot localization have shown that the uncertainty of robot location may be considerably reduced by optimally fusing odometry and the relative angles of sight (bearing) among the team members. However, the latter requires the capabi ...

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...

In this paper, we present a flexible new technique for single-viewpoint omnidirectional camera calibration. The proposed method only re-quires the camera to observe a planar pattern shown at a few different orienta-tions. Either the camera or the planar pa ...

In this paper, we present a novel technique for calibrating central omnidirectional cameras. The proposed procedure is very fast and completely automatic, as the user is only asked to collect a few images of a checker board, and click on its corner points. ...

The recent advances in state estimation, perception, and navigation algorithms have significantly contributed to the ubiquitous use of quadrotors for inspection, mapping, and aerial imaging. To further increase the versatility of quadrotors, recent works i ...

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

Davide Scaramuzza

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Training Efficient Controllers via Analytic Policy Gradient

Microgravity induces overconfidence in perceptual decision-making

Ball Detection and Predictive Ball Following Based on a Stereoscopic Vision System

Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing

The current state and future outlook of rescue robotics

A Flexible Technique for Accurate Omnidirectional Camera Calibration and Structure from Motion

A Toolbox for Easily Calibrating Omnidirectional Cameras

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

Automatic Self-Calibration of a Vision System during Robot Motion