142 citations · 497 across the 21 of their papers we have counts for
22 papers
Why does Deep Learning Improve Visual SLAM?
Giovanni Cioffi, Davide Scaramuzza
Visual SLAM is a well-established technology utilized in a wide range of real-world applications. However, its performance still degrades under challenging visual conditions, such…
Motion-aware Event Suppression for Event Cameras
Roberto Pellerito, Nico Messikommer, Giovanni Cioffi +2
Event cameras report asynchronously per-pixel brightness changes with microsecond latency, encoding dynamic visual information as a sparse stream of events. However, their extreme…
Egocentric Event-Based Vision for Ping Pong Ball Trajectory Prediction
Ivan Alberico, Marco Cannici, Giovanni Cioffi +1
In this paper, we present a real-time egocentric trajectory prediction system for table tennis using event cameras. Unlike standard cameras, which suffer from high latency and moti…
Reading in the Dark with Foveated Event Vision
Carl Brander, Giovanni Cioffi, Nico Messikommer +1
Current smart glasses equipped with RGB cameras struggle to perceive the environment in low-light and high-speed motion scenarios due to motion blur and the limited dynamic range o…
Sight Guide: A Wearable Assistive Perception and Navigation System for the Vision Assistance Race in the Cybathlon 2024
Patrick Pfreundschuh, Giovanni Cioffi, Cornelius von Einem +6
Visually impaired individuals face significant challenges navigating and interacting with unknown situations, particularly in tasks requiring spatial awareness and semantic scene u…
HDVIO2.0: Wind and Disturbance Estimation with Hybrid Dynamics VIO
Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza
Visual-inertial odometry (VIO) is widely used for state estimation in autonomous micro aerial vehicles using onboard sensors. Current methods improve VIO by incorporating a model o…
LiDAR Registration with Visual Foundation Models
Niclas Vödisch, Giovanni Cioffi, Marco Cannici +2
LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using po…
Drift-free Visual SLAM using Digital Twins
Roxane Merat, Giovanni Cioffi, Leonard Bauersfeld +1
Globally-consistent localization in urban environments is crucial for autonomous systems such as self-driving vehicles and drones, as well as assistive technologies for visually im…
Structure-Invariant Range-Visual-Inertial Odometry
Ivan Alberico, Jeff Delaune, Giovanni Cioffi +1
The Mars Science Helicopter (MSH) mission aims to deploy the next generation of unmanned helicopters on Mars, targeting landing sites in highly irregular terrain such as Valles Mar…
Reinforcement Learning Meets Visual Odometry
Nico Messikommer, Giovanni Cioffi, Mathias Gehrig +1
Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design cho…
AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures
Anibal Ollero, Alejandro Suarez, Christos Papaioannidis +27
Large-scale infrastructures are prone to deterioration due to age, environmental influences, and heavy usage. Ensuring their safety through regular inspections and maintenance is c…
Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight
Philipp Foehn, Elia Kaufmann, Angel Romero +8
Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platfor…
HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO
Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza
Visual-inertial odometry (VIO) is the most common approach for estimating the state of autonomous micro aerial vehicles using only onboard sensors. Existing methods improve VIO per…
Autonomous Power Line Inspection with Drones via Perception-Aware MPC
Jiaxu Xing, Giovanni Cioffi, Javier Hidalgo-Carrió +1
Drones have the potential to revolutionize power line inspection by increasing productivity, reducing inspection time, improving data quality, and eliminating the risks for human o…
Autonomous Drone Racing: A Survey
Drew Hanover, Antonio Loquercio, Leonard Bauersfeld +6
Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications c…
Data-Driven Feature Tracking for Event Cameras With and Without Frames
Nico Messikommer, Carter Fang, Mathias Gehrig +2
Because of their high temporal resolution, increased resilience to motion blur, and very sparse output, event cameras have been shown to be ideal for low-latency and low-bandwidth…
Learned Inertial Odometry for Autonomous Drone Racing
Giovanni Cioffi, Leonard Bauersfeld, Elia Kaufmann +1
Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degr…
Continuous-Time vs. Discrete-Time Vision-based SLAM: A Comparative Study
Giovanni Cioffi, Titus Cieslewski, Davide Scaramuzza
Robotic practitioners generally approach the vision-based SLAM problem through discrete-time formulations. This has the advantage of a consolidated theory and very good understandi…
The Hilti SLAM Challenge Dataset
Michael Helmberger, Kristian Morin, Beda Berner +3
Research in Simultaneous Localization and Mapping (SLAM) has made outstanding progress over the past years. SLAM systems are nowadays transitioning from academic to real world appl…
Powerline Tracking with Event Cameras
Alexander Dietsche, Giovanni Cioffi, Javier Hidalgo-Carrio +1
Autonomous inspection of powerlines with quadrotors is challenging. Flights require persistent perception to keep a close look at the lines. We propose a method that uses event cam…
Autonomous Quadrotor Flight despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events
Sihao Sun, Giovanni Cioffi, Coen de Visser +1
Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the…
Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry
Giovanni Cioffi, Davide Scaramuzza
Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional informatio…