Tommaso Piccini

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Visual odometry is one of the most active topics in computer vision. The automotive industry is particularly interested in this field due to the appeal of achieving a high degree of accuracy with inexpensive sensors such as cameras. The best results on this task are currently achieved by systems based on a calibrated stereo camera rig, whereas monocular(More)
An open issue in multiple view geometry and structure from motion, applied to real life scenarios, is the sparsity of the matched key-points and of the reconstructed point cloud. We present an approach that can significantly improve the density of measured displacement vectors in a sparse matching or tracking setting, exploiting the partial information of(More)
The development of vehicles that perceive their environment, in particular those using computer vision, indispensably requires large databases of sensor recordings obtained from real cars driven in realistic traffic situations. These datasets should be time shaped for enabling synchronization of sensor data from different sources. Furthermore, full surround(More)
In many situations after a big catastrophe such as the one in Fukushima, the disaster area is highly dangerous for humans to enter. It is in such environments that a semi-autonomous robot could limit the risks to humans by exploring and mapping the area on its own. This thesis intends to design and implement a software based slam system which has potential(More)
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