publications

2024

1. 

   Look around and learn: self-improving object detection by exploration

   Gianluca Scarpellini, Stefano Rosa, Pietro Morerio , and 2 more authors

   ECCV, 2024

   Abs arXiv

   We teach an embodied agent to look for disagreement in detected objects, in order to collect samples for fine-tuning an off-the-shelf detector. We analyze the zero-shot transfer of the learned policy.

2. 

   Mind the error! detection and localization of instruction errors in vision-and-language navigation

   Francesco Taioli, Stefano Rosa, Alberto Castellini , and 5 more authors

   IROS, 2024

   Abs arXiv Code Website

   We propose a benchmark that introduces instruction errors in VLN datasets and a baseline method for detection and localization of errors.

3. 

   I2EDL: Interactive Instruction Error Detection and Localization

   Francesco Taioli, Stefano Rosa, Alberto Castellini , and 5 more authors

   RO-MAN, 2024

   Abs arXiv

   We extend IEDL to programmatically interact with the user, balancing interactions and success rate increase.

4. 

   Tour guide robot: a 5G-enabled robot museum guide

   Stefano Rosa, Marco Randazzo, Ettore Landini , and 4 more authors

   Frontiers in Robotics and AI, 2024

   Abs PDF Code

   We present development choices and findings in the deployment of a 5G-connected autonomous tour guide robot.

2022

1. 

   Learning selective sensor fusion for state estimation

   Changhao Chen, Stefano Rosa, Chris Xiaoxuan Lu , and 3 more authors

   IEEE Transactions on Neural Networks and Learning Systems, 2022

   Abs PDF

   we propose an end-to-end selective sensor fusion module that can be applied to modality pairs, such as monocular images and inertial measurements, depth images, and light detection and ranging (LIDAR) point clouds.

2021

1. 

   Learning semantic segmentation of large-scale point clouds with random sampling

   Qingyong Hu, Bo Yang, Linhai Xie , and 5 more authors

   IEEE Transactions on Pattern Analysis and Machine Intelligence, 2021

   PDF

2020

1. 

   See through smoke: robust indoor mapping with low-cost mmwave radar

   Chris Xiaoxuan Lu, Stefano Rosa, Peijun Zhao , and 5 more authors

   In Proceedings of the 18th International Conference on Mobile Systems, Applications, and Services , 2020

   Abs arXiv

   We show how to build dense occupancy grid maps of indoor environments from sparse, noisy mmWave measurements, with cross-modal training.

2. 

   Deeptio: A deep thermal-inertial odometry with visual hallucination

   Muhamad Risqi U Saputra, Pedro PB De Gusmao, Chris Xiaoxuan Lu , and 7 more authors

   IEEE Robotics and Automation Letters, 2020

   Abs PDF

   We learn to hallucinate visual features from thermal images that can help first responders to navigate visually-denied scenarios.

3. 

   Randla-net: Efficient semantic segmentation of large-scale point clouds

   Qingyong Hu, Bo Yang, Linhai Xie , and 5 more authors

   In Proceedings of the IEEE/CVF conference on computer vision and pattern recognition , 2020

   Abs PDF Video Code

   We show that random sampling combined with attention can achieve SOA performances in semantic segmentation while processing large point clouds in near real-time.

2019

1. 

   Selective sensor fusion for neural visual-inertial odometry

   Changhao Chen, Stefano Rosa, Yishu Miao , and 4 more authors

   In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition , 2019

   Abs PDF

   We show how data-learned sensor fusion strategies can improve accuracy and robustness in deep VIO when dealing with noisy/corrupted data, while adding interpretability.

2018

1. 

   Semantic place understanding for human–robot coexistence—toward intelligent workplaces

   Stefano Rosa, Andrea Patane, Chris Xiaoxuan Lu , and 1 more author

   IEEE Transactions on Human-Machine Systems, 2018

   Abs PDF

   Robots and users can work synergistically by mutually learning over time, and benefitting from each other by exploiting each other’s strengths. We show how detecting user activities can help robots to learn semantic understanding of the environment, while at the same time learning to better localise the user.

2. 

   Learning the intuitive physics of non-rigid object deformations

   Zhihua Wang, Stefano Rosa, and Andrew Markham

   In Neural Information Processing Systems (NIPS) Workshops , 2018

   PDF

3. 

   Neural allocentric intuitive physics prediction from real videos

   Zhihua Wang, Stefano Rosa, Yishu Miao , and 4 more authors

   arXiv preprint arXiv:1809.03330, 2018

   Abs arXiv

   We learn how to predict future video of interacting objects by decoupling the problem into appearence and dynamics and leaning invertible transformations from real domain to simulation domain and from egocentric view to allocentric view and vice-versa.

4. 

   Learning with training wheels: speeding up training with a simple controller for deep reinforcement learning

   Linhai Xie, Sen Wang, Stefano Rosa , and 2 more authors

   In 2018 IEEE international conference on robotics and automation (ICRA) , 2018

   Abs PDF Video

   We propose a way to embed a switchable, simple controller into a deep reinforcement learning algorithm, to speed up training of mobile robot navigation in simulated environments.

5. 

   3d-physnet: Learning the intuitive physics of non-rigid object deformations

   Zhihua Wang, Stefano Rosa, Bo Yang , and 3 more authors

   In Proceedings of the 27th International Joint Conference on Artificial Intelligence, Stockholm, SWE , 2018

   Abs arXiv Code

   We show that conditioning a generative model that predicts soft object deformations on real physical properties can improve prediction accuracy as well as enabling generalisation abilities.

6. 

   CommonSense: Collaborative learning of scene semantics by robots and humans

   Stefano Rosa, Andrea Patanè, Xiaoxuan Lu , and 1 more author

   In Proceedings of the 1st International Workshop on Internet of People, Assistive Robots and Things , 2018

   PDF

7. 

   Dense 3D object reconstruction from a single depth view

   Bo Yang, Stefano Rosa, Andrew Markham , and 2 more authors

   IEEE transactions on pattern analysis and machine intelligence, 2018

   Abs PDF Website

   We propose an end-to-end approach to high-resolution reconstruction of 3D objects from a single depth image. We also release a real-world dataset for 3D reconstruction. We argue that real-world benchmarks for shape reconstruction are necessary for a thorough validation of future approaches.

8. 

   Defo-Net: Learning body deformation using generative adversarial networks

   Zhihua Wang, Stefano Rosa, Linhai Xie , and 4 more authors

   In 2018 IEEE International Conference on Robotics and Automation (ICRA) , 2018

   Abs arXiv Video Code

   We show that conditioning a generative model that predicts soft object deformations on real physical properties can improve prediction accuracy as well as enabling generalisation abilities.

9. Automatic Face Recognition Adaptation via Ambient Wireless Identifiers

   Chris Xiaoxuan Lu, Peijun Zhao, Bowen Du , and 4 more authors

   In Proceedings of the 16th ACM Conference on Embedded Networked Sensor Systems , 2018
10. EXPLORING NEW FUNCTIONALITIES IN CULTURAL HERITAGE SPACES-DESIGNING DIFFERENT MUSEUM TRAILS WITH LOW COST TECHNOLOGIES

    Sara Khan, Stefano Rosa, Claudio Germak , and 1 more author

    In DS 92: Proceedings of the DESIGN 2018 15th International Design Conference , 2018
11. Q-PSO: Fast quaternion-based pose estimation from RGB-D images

    Stefano Rosa, Giorgio Toscana, and Basilio Bona

    Journal of Intelligent & Robotic Systems, 2018

2017

1. Towards self-supervised face labeling via cross-modality association

   Chris Xiaoxuan Lu, Xuan Kan, Stefano Rosa , and 4 more authors

   In Proceedings of the 15th ACM Conference on Embedded Network Sensor Systems , 2017
2. Tracking a subset of skeleton joints: an effective approach towards complex human activity recognition

   Muhammad Latif Anjum, Stefano Rosa, and Basilio Bona

   Journal of Robotics, 2017
3. Leveraging user activities and mobile robots for semantic mapping and user localization

   Stefano Rosa, Xiaoxuan Lu, Hongkai Wen , and 1 more author

   In Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction , 2017

2016

1. Fast graph-based object segmentation for rgb-d images

   Giorgio Toscana, Stefano Rosa, and Basilio Bona

   In Proceedings of SAI Intelligent Systems Conference , 2016
2. A novel cloud-based service robotics application to data center environmental monitoring

   Ludovico Orlando Russo, Stefano Rosa, Marcello Maggiora , and 1 more author

   Sensors, 2016
3. Fast feature-less quaternion-based particle swarm optimization for object pose estimation from rgb-d images

   Giorgio Toscana, and Stefano Rosa

   In Proceedings of the British Machine Vision Conference 2016‚ BMVC 2016‚ York‚ UK‚ 19−22 September‚ 2016 , 2016
4. Service robotics for data centers monitoring

   Ludovico O Russo, Stefano Rosa, Stefano Primatesta , and 2 more authors

   In IECON 2016-42nd Annual Conference of the IEEE Industrial Electronics Society , 2016
5. An application of laser-based autonomous navigation for data-center monitoring

   Stefano Rosa, Ludovico Orlando Russo, Giuseppe Airó Farulla , and 4 more authors

   In Intelligent Autonomous Systems 13: Proceedings of the 13th International Conference IAS-13 , 2016
6. A Kinect-Based Front-End for Graph-SLAM Using Plane Matching in Planar Indoor Environments

   Zehui Yuan, Stefano Rosa, Ludovico Russo , and 1 more author

   In Intelligent Autonomous Systems 13: Proceedings of the 13th International Conference IAS-13 , 2016
7. Leveraging open data for supporting a cloud robotics service in a smart city environment

   Gabriele Ermacora, Antonio Toma, Roberto Antonini , and 1 more author

   In Intelligent Autonomous Systems 13: Proceedings of the 13th International Conference IAS-13 , 2016
8. Vocal interaction with a 7-DOF robotic arm for object detection, learning and grasping

   Stefano Rosa, Alfio Russo, A Saglinbeni , and 1 more author

   In 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI) , 2016
9. Fly4SmartCity: A cloud robotics service for smart city applications

   Gabriele Ermacora, Stefano Rosa, and Antonio Toma

   Journal of Ambient Intelligence and Smart Environments, 2016

2015

1. From a Robotic Vacuum Cleaner to Robot Companion: Acceptance and Engagement in Domestic Environments

   Maria Luce Lupetti, Stefano Rosa, and Gabriele Ermacora

   In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts , 2015
2. Sliding autonomy in cloud robotics services for smart city applications

   Gabriele Ermacora, Stefano Rosa, and Basilio Bona

   In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts , 2015
3. PARLOMA–a novel human-robot interaction system for deaf-blind remote communication

   Ludovico Orlando Russo, Giuseppe Airò Farulla, Daniele Pianu , and 7 more authors

   International Journal of Advanced Robotic Systems, 2015
4. A cloud robotics system for telepresence enabling mobility impaired people to enjoy the whole museum experience

   Miguel Kaouk Ng, Stefano Primatesta, Luca Giuliano , and 7 more authors

   In 2015 10th International Conference on Design & Technology of Integrated Systems in Nanoscale Era (DTIS) , 2015
5. ORIENTOMA: A novel platform for autonomous and safe navigation for blind and visually impaired

   Giuseppe Airò Farulla, Ludovico O Russo, Stefano Rosa , and 1 more author

   In 2015 10th International Conference on Design & Technology of Integrated Systems in Nanoscale Era (DTIS) , 2015
6. Leveraging the cloud for connected service robotics applications

   Stefano Rosa, Ludovico Orlando Russo, Giorgio Toscana , and 3 more authors

   In 2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA) , 2015
7. Loop detection in robotic navigation using MPEG CDVS

   Pedro PB Gusmão, Stefano Rosa, Enrico Magli , and 2 more authors

   In 2015 IEEE 17th International Workshop on Multimedia Signal Processing (MMSP) , 2015

2014

1. A ros implementation of the mono-slam algorithm

   Ludovico Russo, Stefano Rosa, Basilio Bona , and 1 more author

   International Journal of Computer Science & Information Technology, 2014
2. Supervision and monitoring of logistic spaces by a cooperative robot team: methodologies, problems, and solutions

   Basilio Bona, Luca Carlone, Marina Indri , and 1 more author

   Intelligent Service Robotics, 2014
3. Scan matching for graph slam in indoor dynamic scenarios

   Jingchun Yin, Luca Carlone, Stefano Rosa , and 2 more authors

   In The Twenty-Seventh International Flairs Conference , 2014
4. Skeleton tracking based complex human activity recognition using kinect camera

   Muhammad Latif Anjum, Omar Ahmad, Stefano Rosa , and 2 more authors

   In Social Robotics: 6th International Conference, ICSR 2014, Sydney, NSW, Australia, October 27-29, 2014. Proceedings 6 , 2014
5. Real-time single camera hand gesture recognition system for remote deaf-blind communication

   Giuseppe Airò Farulla, Ludovico Orlando Russo, Chiara Pintor , and 8 more authors

   In Augmented and Virtual Reality: First International Conference, AVR 2014, Lecce, Italy, September 17-20, 2014, Revised Selected Papers 1 , 2014
6. Towards a ROS-based autonomous cloud robotics platform for data center monitoring

   Stefano Rosa, Ludovico Orlando Russo, and Basilio Bona

   In Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA) , 2014
7. A cloud based service for management and planning of autonomous UAV missions in smart city scenarios

   Gabriele Ermacora, Antonio Toma, Stefano Rosa , and 5 more authors

   In Modelling and Simulation for Autonomous Systems: First International Workshop, MESAS 2014, Rome, Italy, May 5-6, 2014, Revised Selected Papers 1 , 2014
8. Graph-based robust localization and mapping for autonomous mobile robotic navigation

   Jingchun Yin, Luca Carlone, Stefano Rosa , and 1 more author

   In 2014 IEEE International Conference on Mechatronics and Automation , 2014

2013

1. Multirobot localization in highly symmetrical environments

   Fabrizio Abrate, Basilio Bona, Marina Indri , and 2 more authors

   Journal of Intelligent & Robotic Systems, 2013
2. Blurring prediction in monocular slam

   Ludovico Orlando Russo, Giuseppe Airo Farulla, Marco Indaco , and 3 more authors

   In 2013 8th IEEE Design and Test Symposium , 2013

2012

1. Object tracking with adaptive HOG detector and adaptive Rao-Blackwellised particle filter

   Stefano Rosa, Marco Paleari, Paolo Ariano , and 1 more author

   In Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques , 2012
2. Graph optimization with unstructured covariance: fast, accurate, linear approximation

   Luca Carlone, Jingchun Yin, Stefano Rosa , and 1 more author

   Simulation, Modeling, and Programming for Autonomous Robots, 2012

2011

1. HExEC: Hand Exoskeleton Electromyographic Control

   Marco Paleari, Valentina Margaria, Stefano Rosa , and 1 more author

   In 4th International Workshop on Human Friendly Robotics (HFR 2011), Twente, The Netherlands , 2011

2010

1. Map updating in dynamic environments

   Fabrizio Abrate, Basilio Bona, Marina Indri , and 2 more authors

   In ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics) , 2010
2. An Application of Omnidirectional Vision to Grid-based SLAM in Indoor Environments

   Vito Macchia, Stefano Rosa, Luca Carlone , and 1 more author

   In Workshop on Omnidirectional Robot Vision, International Conference on Robotics and Automation (ICRA 2010) , 2010
3. Multi-robot map updating in dynamic environments

   Fabrizio Abrate, Basilio Bona, Marina Indri , and 2 more authors

   In 10th International Symposium on Distributed Autonomous Robotics Systems , 2010

2009

1. Hybrid localization solutions for robotic logistic applications

   Daniele Brevi, Francesco Fileppo, Riccardo Scopigno , and 4 more authors

   In 2009 IEEE International Conference on Technologies for Practical Robot Applications , 2009
2. Three-State Multirobot Collaborative Localization in Symmetrical Environments

   Fabrizio Abrate, Basilio Bona, Marina Indri , and 2 more authors

   In ROBOTICA 2009 , 2009

2008

1. Switching multirobot collaborative localization in symmetrical environments

   Fabrizio Abrate, Basilio Bona, Marina Indri , and 2 more authors

   In IEEE International Conference on Intelligent RObots Systems (IROS 2008), 2nd Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV) , 2008