Low-latency Perception and Action for Agile Vision-based Flight

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Data-Driven MPC for Quadrotors

Author(s): Guillem Torrente; Elia Kaufmann; Philipp Fohn; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2102.05773

Multi-Task Reinforcement Learning for Quadrotors

Author(s): Jiaxu Xing, Ismail Geles, Yunlong Song, Elie Aljalbout, Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, Page(s) 2112-2119, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lra.2024.3520894

Microgravity induces overconfidence in perceptual decision‑making

Author(s): Leyla Loued‑Khenissi, Christian Pfeiffer, Rupal Saxena, Shivam Adarsh, Davide Scaramuzza
Published in: Nature Scientific Reports, 2023, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-023-36775-0

Low-latency automotive vision with event cameras

Author(s): Daniel Gehrig, Davide Scaramuzza
Published in: Nature, Issue 629, 2024, Page(s) 1034-1040, ISSN 0028-0836
Publisher: Nature Publishing Group
DOI: 10.1038/s41586-024-07409-w

A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight

Author(s): Sihao Sun; Angel Romero; Philipp Foehn; Elia Kaufmann; Davide Scaramuzza
Published in: IEEE Transactions on Robotics, Issue 15523098, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3177279

AutoTune: Controller Tuning for High-Speed Flight

Author(s): Antonio Loquercio; Alessandro Saviolo; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2103.10698

Champion-level Drone Racing using Deep Reinforcement Learning

Author(s): Elia Kaufmann, Leonard Bauersfeld, Antonio Loquercio, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
Published in: Nature, 2023, ISSN 0028-0836
Publisher: Nature Publishing Group
DOI: 10.1038/s41586-023-06419-4

E-NeRF: Neural Radiance Fields From a Moving Event Camera

Author(s): Simon Klenk; Lukas Koestler; Davide Scaramuzza; Daniel Cremers
Published in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3240646

Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

Author(s): Robert Penicka; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2202.03947

Policy Search for Model Predictive Control with Application to Agile Drone Flight

Author(s): Song, Yunlong; Scaramuzza, Davide
Published in: IEEE Transactions on Robotics, Issue 15523098, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.48550/arxiv.2112.03850

Range, Endurance, and Optimal Speed Estimates for Multicopters

Author(s): Leonard Bauersfeld; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3145063

Reaching the Limit in Autonomous Racing: Optimal Control vs. Reinforcement Learning

Author(s): Yunlong Song, Angel Romero, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
Published in: Science Robotics, 2023, ISSN 2470-9476
Publisher: Science
DOI: 10.1126/scirobotics.adg1462

Robotics Meets Fluid Dynamics: A Characterization of the Induced Airflow Below a Quadrotor as a Turbulent Jet

Author(s): Leonard Bauersfeld, Koen Muller, Dominic Ziegler, Filippo Coletti, Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, Page(s) 1241-1248, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2024.3518835

Nonlinear MPC for Quadrotor Fault-Tolerant Control

Author(s): Fang Nan; Sihao Sun; Philipp Foehn; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2109.12886

Perception-Aware Perching on Powerlines with Multirotors

Author(s): Julio L. Paneque; Jose Ramiro Martínez de Dios; Aníbal Ollero; Drew Hanover; Sihao Sun; Ángel Romero; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3145514

Continuous-Time Vs. Discrete-Time Vision-Based SLAM: A Comparative Study

Author(s): Giovanni Cioffi; Titus Cieslewski; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3143303

Dense Continuous-Time Optical Flow From Event Cameras

Author(s): Mathias Gehrig, Manasi Muglikar, Davide Scaramuzza
Published in: IEEE Transactions on Pattern Analysis and Machine Intelligence, Issue 46, 2024, Page(s) 4736-4746, ISSN 0162-8828
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tpami.2024.3361671

A Unified Framework for Event-Based Frame Interpolation With Ad-Hoc Deblurring in the Wild

Author(s): Lei Sun, Daniel Gehrig, Christos Sakaridis, Mathias Gehrig, Jingyun Liang, Peng Sun, Zhijie Xu, Kaiwei Wang, Luc Van Gool, Davide Scaramuzza
Published in: IEEE Transactions on Pattern Analysis and Machine Intelligence, Issue 47, 2025, Page(s) 2265-2279, ISSN 0162-8828
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tpami.2024.3510690

Autonomous Drone Racing: A Survey

Author(s): Drew Hanover, Antonio Loquercio, Leonard Bauersfeld, Angel Romero, Robert Penicka, Yunlong Song, Giovanni Cioffi, Elia Kaufmann, Davide Scaramuzza
Published in: IEEE Transactions on Robotics, Issue 40, 2025, Page(s) 3044-3067, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3400838

Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors

Author(s): Drew Hanover; Philipp Foehn; Sihao Sun; Elia Kaufmann; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3131690

Learning Minimum-Time Flight in Cluttered Environments

Author(s): Robert Penicka; Yunlong Song; Elia Kaufmann, Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3181755

Data-Driven Feature Tracking for Event Cameras With and Without Frames

Author(s): Nico Messikommer, Carter Fang, Mathias Gehrig, Giovanni Cioffi, Davide Scaramuzza
Published in: IEEE Transactions on Pattern Analysis and Machine Intelligence, Issue 47, 2025, Page(s) 3706-3717, ISSN 0162-8828
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tpami.2025.3536016

Event Cameras Meet SPADs for High-Speed, Low-Bandwidth Imaging

Author(s): Manasi Muglikar, Siddharth Somasundaram, Akshat Dave, Edoardo Charbon, Ramesh Raskar, Davide Scaramuzza
Published in: IEEE Transactions on Pattern Analysis and Machine Intelligence, Issue 47, 2025, Page(s) 7886-7897, ISSN 0162-8828
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tpami.2025.3576698

Time-Optimal Online Replanning for Agile Quadrotor Flight

Author(s): Angel Romero; Robert Penicka; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3185772

Exploring Event Camera-based Odometry for Planetary Robots

Author(s): Florian Mahlknecht; Daniel Gehrig; Jeremy Nash; Friedrich M. Rockenbauer; Benjamin Morrell; Jeff Delaune; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3187826

Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight

Author(s): Philipp Foehn, Elia Kaufmann, Angel Romero, Robert Penicka, Sihao Sun, Leonard Bauersfeld, Thomas Laengle, Giovanni Cioffi, Yunlong Song, Antonio Loquercio, and Davide Scaramuzza
Published in: Science Robotics, 2022, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.abl6259

Model Predictive Contouring Control for Time-Optimal Quadrotor Flight

Author(s): Angel Romero; Sihao Sun; Philipp Foehn; Davide Scaramuzza
Published in: IEEE Transactions on Robotics, Issue 15523098, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3173711

Visual attention prediction improves performance of autonomous drone racing agents

Author(s): Christian Pfeiffer; Simon Wengeler; Antonio Loquercio; Davide Scaramuzza
Published in: PLOS ONE, Issue 19326203, 2022, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0264471

Learned Inertial Odometry for Autonomous Drone Racing

Author(s): Giovanni Cioffi, Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters ( Volume: 8, Issue: 5, May 2023), 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3252342

Cracking double-blind review: Authorship attribution with deep learning

Author(s): Leonard Bauersfeld; Angel Romero; Manasi Muglikar; Davide Scaramuzza
Published in: PLOS ONE, 2023, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0287611

Time-Optimal Planning for Quadrotor Waypoint Flight

Author(s): Philipp Foehn; Angel Romero; Davide Scaramuzza
Published in: Science Robotics, Issue 24709476, 2021, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.abh1221

Learning High-Speed Flight in the Wild

Author(s): Antonio Loquercio; Elia Kaufmann; René Ranftl; Matthias Müller; Vladlen Koltun; Davide Scaramuzza
Published in: Science Robotics, Issue 24709476, 2021, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.abg5810

Human-Piloted Drone Racing: Visual Processing and Control

Author(s): Christian Pfeiffer; Davide Scaramuzza
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3064282

Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight

Author(s): Xing, Jiaxu; Romero, Angel; Bauersfeld, Leonard; Scaramuzza, Davide
Published in: Conference on Robot Learning, Issue 4, 2024
Publisher: CORL
DOI: 10.48550/arxiv.2403.12203

A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight

Author(s): Kaufmann, Elia; Bauersfeld, Leonard; Scaramuzza, Davide
Published in: 2022 International Conference on Robotics and Automation (ICRA), 2022, ISBN 978-1-7281-9681-7
Publisher: IEEE
DOI: 10.48550/arxiv.2202.10796

Weighted Maximum Likelihood for Controller Tuning

Author(s): Angel Romero, Shreedhar Govil, Gonca Yilmaz, Yunlong Song, Davide Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023
Publisher: IEEE

Contrastive Learning for Enhancing Robust Scene Transfer in Vision-based Agile Flight

Author(s): Jiaxu Xing, Leonard Bauersfeld, Yunlong Song, Chunwei Xing, Davide Scaramuzza
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 5330-5337
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610095

Multi-Bracket High Dynamic Range Imaging with Event Cameras

Author(s): Nico Messikommer; Stamatios Georgoulis; Daniel Gehrig; Stepan Tulyakov; Julius Erbach; Alfredo Bochicchio; Yuanyou Li; Davide Scaramuzza
Published in: 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2022, ISBN 978-1-6654-8739-9
Publisher: IEEE/CVF
DOI: 10.1109/cvprw56347.2022.00070

Learning Deep Sensorimotor Policies for Vision-based Autonomous Drone Racing

Author(s): Jiawei Fu, Yunlong Song, Yan Wu, Fisher Yu, and Davide Scaramuzza
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, 2023., 2023
Publisher: IEEE

Monocular Event-Based Vision for Obstacle Avoidance with a Quadrotor

Author(s): Bhattacharya, Anish; Cannici, Marco; Rao, Nishanth; Tao, Yuezhan; Kumar, Vijay; Matni, Nikolai; Scaramuzza, Davide
Published in: Conference on Robot Learning, Issue 13, 2024
Publisher: CORL
DOI: 10.48550/arxiv.2411.03303

NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Author(s): Leonard Bauersfeld; Elia Kaufmann; Philipp Foehn; Sihao Sun; Davide Scaramuzza
Published in: Robotics: Science and Systems, 2021
Publisher: Robotics: Science and Systems
DOI: 10.48550/arxiv.2106.08015

Autonomous Power Line Inspection with Drones via Perception-Aware MPC

Author(s): Jiaxu Xing, Giovanni Cioffi, Javier Hidalgo-Carrio, and Davide Scaramuzza
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, 2023, 2023
Publisher: IEEE

Autonomous Drone Racing with Deep Reinforcement Learning

Author(s): Song, Yunlong; Steinweg, Mats; Kaufmann, Elia; Scaramuzza, Davide
Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, ISBN 978-1-6654-1714-3
Publisher: IEEE
DOI: 10.48550/arxiv.2103.08624

Event-aided Direct Sparse Odometry

Author(s): Javier Hidalgo-Carrió; Guillermo Gallego; Davide Scaramuzza
Published in: 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022, ISBN 978-1-6654-6946-3
Publisher: IEEE/CVF
DOI: 10.1109/cvpr52688.2022.00569

Revisiting Token Pruning for Object Detection and Instance Segmentation

Author(s): Yifei Liu, Mathias Gehrig, Nico Messikommer, Marco Cannici, Davide Scaramuzza
Published in: 2024 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2024, Page(s) 2646-2656
Publisher: IEEE
DOI: 10.1109/wacv57701.2024.00264

Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning

Author(s): Yunlong Song; HaoChih Lin; Elia Kaufmann; Peter Durr; Davide Scaramuzza
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561049

TimeLens: Event-based Video Frame Interpolation

Author(s): Tulyakov, Stepan; Gehrig, Daniel; Georgoulis, Stamatios; Erbach, Julius; Gehrig, Mathias; Li, Yuanyou; Scaramuzza, Davide
Published in: 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021, ISBN 978-1-6654-4509-2
Publisher: IEEE/CVF
DOI: 10.48550/arxiv.2106.07286

State Space Models for Event Cameras

Author(s): Nikola Zubić, Mathias Gehrig, Davide Scaramuzza
Published in: 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024, Page(s) 5819-5828
Publisher: IEEE
DOI: 10.1109/cvpr52733.2024.00556

Data-Driven Feature Tracking for Event Cameras

Author(s): Nico Messikommer; Carter Fang; Mathias Gehrig; Davide Scaramuzza
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023, 2023
Publisher: IEEE/CVF
DOI: 10.1109/cvpr52729.2023.00546

An N-Point Linear Solver for Line and Motion Estimation with Event Cameras

Author(s): Ling Gao, Daniel Gehrig, Hang SU, Davide Scaramuzza, Laurent Kneip
Published in: 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024, Page(s) 14596-14605
Publisher: IEEE
DOI: 10.1109/cvpr52733.2024.01383

Mitigating Motion Blur in Neural Radiance Fields with Events and Frames

Author(s): Marco Cannici, Davide Scaramuzza
Published in: 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024, Page(s) 9286-9296
Publisher: IEEE
DOI: 10.1109/cvpr52733.2024.00887

ESS: Learning Event-based Semantic Segmentation from Still Images

Author(s): Z. Sun, N. Messikommer, D. Gehrig, D. Scaramuzza
Published in: European Conference on Computer Vision (ECCV), Tel Aviv, 2022., 2022
Publisher: Springer
DOI: 10.1007/978-3-031-19830-4_20

From Chaos Comes Order: Ordering Event Representations for Object Recognition and Detection

Author(s): Zubić, Nikola; Gehrig, Daniel; Gehrig, Mathias; Scaramuzza, Davide
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2023, 2023
Publisher: IEEE/CVF
DOI: 10.48550/arxiv.2304.13455

HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO

Author(s): Giovanni Cioffi; Leonard Bauersfeld; Davide Scaramuzza
Published in: Robotics: Science and Systems (RSS), 2023., 2023
Publisher: Robotics: Science and Systems
DOI: 10.15607/rss.2023.xix.071

Contrastive Initial State Buffer for Reinforcement Learning

Author(s): Nico Messikommer, Yunlong Song, Davide Scaramuzza
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 2866-2872
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610528

Recurrent Vision Transformers for Object Detection with Event Cameras

Author(s): Mathias Gehrig; Davide Scaramuzza
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023, Issue 15, 2023
Publisher: IEEE/CVF
DOI: 10.1109/cvpr52729.2023.01334

A 5-Point Minimal Solver for Event Camera Relative Motion Estimation

Author(s): Ling Gao, Hang Su, Daniel Gehrig, Marco Cannici, Davide Scaramuzza, Laurent Kneip
Published in: 2023 IEEE/CVF International Conference on Computer Vision (ICCV), 2024, Page(s) 8015-8025
Publisher: IEEE
DOI: 10.1109/iccv51070.2023.00739

Deep Visual Odometry with Events and Frames

Author(s): Roberto Pellerito, Marco Cannici, Daniel Gehrig, Joris Belhadj, Olivier Dubois-Matra, Massimo Casasco, Davide Scaramuzza
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Page(s) 8966-8973
Publisher: IEEE
DOI: 10.1109/iros58592.2024.10801307

Learning Perception-Aware Agile Flight in Cluttered Environments

Author(s): Y. Song, K. Shi, R. Penicka, D. Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023
Publisher: IEEE

User-Conditioned Neural Control Policies for Mobile Robotics

Author(s): Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), London, 2023, 2023
Publisher: IEEE

Learning Quadruped Locomotion Using Differentiable Simulation

Author(s): Song, Yunlong; Kim, Sangbae; Scaramuzza, Davide
Published in: Conference on Robot Learning, Issue 4, 2024
Publisher: CORL
DOI: 10.5167/uzh-264845

Learning Agile, Vision-based Drone Flight: from Simulation to Reality

Author(s): Scaramuzza, Davide; Kaufmann, Elia
Published in: The International Symposium of Robotics Research, 2023
Publisher: Springer
DOI: 10.1007/978-3-031-25555-7_2

Learning to Walk and Fly with Adversarial Motion Priors

Author(s): Giuseppe L’Erario, Drew Hanover, Ángel Romero, Yunlong Song, Gabriele Nava, Paolo Maria Viceconte, Daniele Pucci, Davide Scaramuzza
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Page(s) 10370-10377
Publisher: IEEE
DOI: 10.1109/iros58592.2024.10802391

Event-based Agile Object Catching with a Quadrupedal Robot

Author(s): Benedek Forrai; Takahiro Miki; Daniel Gehrig; Marco Hutter; Davide Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA) 2023, Issue 1, 2023
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10161392

Actor-Critic Model Predictive Control

Author(s): Angel Romero, Yunlong Song, Davide Scaramuzza
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 14777-14784
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610381

Geometry-aware Compensation Scheme for Morphing Drones

Author(s): Amedeo Fabris; Kevin Kleber; Davide Falanga; Davide Scaramuzza
Published in: IEEE International Conference on Robotics and Automation (ICRA), Xi'an, 2021, Issue 2577087X, 2021, ISSN 2577-087X
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561774

How to Calibrate Your Event Camera

Author(s): Manasi Muglikar; Mathias Gehrig; Daniel Gehrig; Davide Scaramuzza
Published in: 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2021
Publisher: IEEE/CVF
DOI: 10.48550/arxiv.2105.12362

E-RAFT: Dense Optical Flow from Event Cameras

Author(s): Mathias Gehrig; Mario Millhäusler; Daniel Gehrig; Davide Scaramuzza
Published in: 2021 International Conference on 3D Vision (3DV), 2021
Publisher: IEEE
DOI: 10.1109/3dv53792.2021.00030

A Hybrid ANN-SNN Architecture for Low-Power and Low-Latency Visual Perception

Author(s): Asude Aydin, Mathias Gehrig, Daniel Gehrig, Davide Scaramuzza
Published in: 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2024, Page(s) 5701-5711
Publisher: IEEE
DOI: 10.1109/cvprw63382.2024.00579

MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints

Author(s): Maria Krinner, Angel Romero, Leonard Bauersfeld, Melanie Zeilinger, Andrea Carron, Davide Scaramuzza
Published in: Robotics: Science and Systems XX, 2024
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2024.xx.109

A 5-Point Minimal Solver for Event Camera Relative Motion Estimation

Author(s): Ling Gao, Hang Su, Daniel Gehrig, Marco Cannici, Davide Scaramuzza, Laurent Kneip
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2023, 2023
Publisher: IEEE/CVF
DOI: 10.48550/arxiv.2309.17054

Demonstrating Agile Flight from Pixels without State Estimation

Author(s): Ismail Geles, Leonard Bauersfeld, Angel Romero, Jiaxu Xing, Davide Scaramuzza
Published in: Robotics: Science and Systems XX, 2024
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2024.xx.082

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