Gian Luca Mariottini's Home Page

My research topics mainly focus on problems related to single and multi-robot localization and control, vision-based robot navigation, single and multi-view geometry of pinhole and panoramic vision sensors and human-robot interfaces for medical applications.

1. Single and multi-robot localization (camera, laser and IMU, etc.)

		Laser-IMU Indoor Localization for the visually impaired^* Development of a localization algorithm for blind people which uses laser and IMU mounted on a white cane. Observability of such a nonlinear system is also studied to give insight to the localization alg. (More details here!) * In cooperation with Joel Hesh and Prof.Stergios Roumeliotis (MARS Lab, UMN, US)
		Vision-based Localization and Control of Multi-Robot Formations^* Observability study for vision-based localization and control of a flock of multi-robots equipped only with on-board panoramic cameras. * In cooperation with Kostas Daniilidis and George J. Pappas (GRASP Lab, UPENN, USA)
		Uncalibrated Paracatadioptric Video-Compass^* We developed a new geometrical property for the imaging of lines in paracatadioptric cameras. This property is used to design a robust Visual Compass algorithm that computes a closed-form estimate of the camera rotation angle using uncalibrated images. * In cooperation with Prof. Domenico Prattichizzo (Univ. of Siena, ITALY)
		SWAN system for video-based localization^* In the 4th (last) year of the SWAN project I've joined GaTech and collaborated as PostDoc to design and develop a vision system for the vision-based localization of blind people in a environment with a known 3-D map. (More details here!) * In cooperation with Prof. Frank Dellaert and Prof. Bruce Walker (GaTech, US)

2. Vision-based robot navigation

		Image-based Visual Servoing with Central Catadioptric Cameras We present the auto-epipolar condition for panoramic cameras and use it to design an image-based visual-servo control law which does not need of any 3-D information or estimation process. (Videos of the experiments from IJRR website) * In cooperation with Prof. Domenico Prattichizzo (Univ. of Siena, ITALY)
		Image-based Visual Servoing for Mobile Robot Using Epipolar Geometry* Autonomous image-based navigation for nonholonomic robots with partially calibrated camera in unknown environment. (More details here!) * In cooperation with Prof. Giuseppe Oriolo ("La Sapienza", Rome, ITALY)
		The Epipolar Geometry Toolbox (EGT) EGT is a free MATLAB toolbox providing a wide set of functions to approach multi-view computer vision problems (modeling, estimation, etc.) for both pinhole and central catadioptric cameras.

3. Medical Applications

		Human-Robotics Interface for Emotional and Cognitive Studies We designed a HRI to interact with human and cognitive system for possible rehabilitation purposes.
		Eye-tracking for studies on dyslexia Eye-tracker use for dyslexia studies on children.

3. Computer-Vision and Image Processing Techniques
for Industrial Applications

		3-D Photogrammetry Engine Measure your environment (house, car accident, etc.) using only two or more pictures!
		Real-time Image Processing Real-time quality control, video surveillance and statistic form image.