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GRASP Special Seminar – Davide Scaramuzza, ETH Zürich, “Omnidirectional Vision in Robotics: from Calibration to Robot Motion Estimation and Autonomous Flight of Micro Helicopters”

July 20, 2010 @ 11:00 am - 12:00 pm

Abstract: Cameras are having a large impact on our society, every cell-phone is
equipped with a camera and in the very near future all cars will
feature cameras to improve traffic safety and even clothing will be
equipped with integrated cameras. While cameras are continuing to
pervade our daily lives, optics developers are working on increasing
the field of view of the cameras. If the field of view of a camera
exceeds 180 degrees, it is called an omnidirectional camera.
Up until three years ago, these cameras were too heavy, expensive,
and bulky to be integrated in commercial products. However today,
omnidirectional cameras have become sufficiently small to be installed
in cars and even carried on small lightweight helicopters. The market
of these cameras is increasing and accordingly the demand for software
that enables their use in the real world is rising.
In this talk, I will present how to combine omnidirectional vision
and robotics into two applications: ground robots and micro aerial
vehicles. After a brief overview on omnidirectional vision, I will show
results on vehicle motion estimation for ground vehicles and autonomous
flight of micro helicopters by just using a single miniature
omnidirectional camera as a sole input.


- Learn More

Davide Scaramuzza (1980, Italian) received his PhD (February 2008) in
Computer Vision and Robotics at the ETH Zurich. His PhD thesis won the
Robotdalen Scientific Award, which is the most prestigious award for
PhD theses in the field of Robotics and Automation. He is currently post-doctoral Fellow at the ETH Zurich, where he
is leader and scientific manager of the European project “sFly”, which
focuses on autonomous navigation of micro helicopters in urban
environments using vision as a main sensor modality. Davide is a lecturer of the Master course “Autonomous Mobile
Robots” at the ETH Zurich and leader of the ETH-Maverick team which won
the 2nd place at the international competition of Micro Aerial Vehicles
in September 2009 with the first purely vision based autonomous
He is also author of the 2nd edition of the textbook “Introduction
to Autonomous Mobile Robots” (MIT Press), along with Roland Siegwart
(ETH) and Illah Nourbakhsh (CMU), which will appear in late 2010.
Finally, Davide is author of the first open-source Omnidirectional
Camera Calibration Toolbox for MATLAB which, besides thousands of
downloads worldwide, is also currently used at NASA, Philips, Bosch,
Daimler, and Chrysler.


July 20, 2010
11:00 am - 12:00 pm
Event Category: