Antoni Rosinol

Ph.D. Student, MIT
Email: arosinol@mit.edu
Office: 31-244, 31 Vassar Street

Resume • Google Scholar • Linkedin

News

[Sep 20, 2019] Open-Source release of Kimera!: an accurate visual-inertial odometry pipeline with SLAM capabilities and multi-horizon 3D Mesh generation with Semantic annotations. Check https://github.com/MIT-SPARK/Kimera.
[May 24, 2019] IEEE RAL'18 Best Paper Award Honourable Mention: Our paper UltimateSLAM received the IEEE Robotics and Automation Letters 2018 Best Paper Award Honourable Mention during the award session at the ICRA 2019 conference in Montreal. It ranked in the top 3 out of 520 papers published by RAL in 2018. The project's website can be found here. [Paper][Video].
[May 23, 2019] Presented our recent work Towards Real-Time Metric-Semantic Localization and Mapping with 3D Mesh Models at the 2nd International Workshop on Lines, Planes and Manhattan Models for 3-D Mapping (LPM 2019). We also show our newest 3D photo-realistic simulator and present our vision for the future of SLAM. [Slides].
[Jan 26, 2019] Our paper Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities accepted at ICRA 2019. We show how to use structural regularities in the scene to improve localization and mapping performance in real-time. The project's website can be found here. [Paper][Video]

Publications

Journal Papers

Ultimate SLAM? Combining events, images, and IMU for robust visual SLAM in HDR and high-speed scenarios

Antoni Rosinol, Henri Rebecq, Timo Horstschaefer, Davide Scaramuzza

IEEE Robotics and Automation Letters (2018)

bibtex pdf doi link

@article{Rosinol18ral-ultimate,
  title = {Ultimate SLAM? Combining events, images, and IMU for robust visual SLAM in HDR and high-speed scenarios},
  author = {Rosinol, Antoni and Rebecq, Henri and Horstschaefer, Timo and Scaramuzza, Davide},
  journal = {IEEE Robotics and Automation Letters},
  volume = {3},
  number = {2},
  doi = {10.1109/LRA.2018.2793357},
  pdf = {https://arxiv.org/abs/1709.06310},
  pages = {994--1001},
  year = {2018},
  publisher = {IEEE},
  url = {http://rpg.ifi.uzh.ch/ultimateslam.html}
}

Conference Papers

Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping

Antoni Rosinol, Marcus Abate, Yun Chang, Luca Carlone

(2019)

bibtex pdf link
```
@misc{Rosinol19tr-Kimera,
  title = {Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping},
  author = {Rosinol, Antoni and Abate, Marcus and Chang, Yun and Carlone, Luca},
  year = {2019},
  eprint = {1910.02490},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
  url = {https://github.com/MIT-SPARK/Kimera},
  pdf = {https://arxiv.org/pdf/1910.02490.pdf}
}
```

Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities

A. Rosinol, T. Sattler, M. Pollefeys, L. Carlone

IEEE Intl. Conf. on Robotics and Automation (ICRA) (2019)

bibtex pdf doi link

@inproceedings{Rosinol19icra-mesh,
  author = {Rosinol, A. and Sattler, T. and Pollefeys, M. and Carlone, L.},
  title = {Incremental {V}isual-{I}nertial {3D} {M}esh {G}eneration with {S}tructural {R}egularities},
  note = {\linkToPdf{https://arxiv.org/pdf/1903.01067.pdf},
              \linkToWeb{https://www.mit.edu/~arosinol/research/struct3dmesh.html}},
  pdf = {https://arxiv.org/pdf/1903.01067.pdf},
  url = {https://www.mit.edu/\%7Earosinol/research/struct3dmesh.html},
  doi = {10.1109/ICRA.2019.8794456},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  year = {2019}
}

Densifying Sparse VIO: a Mesh-based approach using Structural Regularities.

Antoni Rosinol

(2018)

bibtex pdf doi

@mastersthesis{Rosinol18thesis,
  author = {Rosinol, Antoni},
  title = {{D}ensifying {S}parse {VIO}: a {M}esh-based approach using {S}tructural {R}egularities.},
  year = {2018},
  language = {en},
  copyright = {Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International},
  keywords = {Visual Inertial Odometry; Dense Mapping; State Estimation; SLAM; Robotics},
  doi = {10.3929/ethz-b-000297645},
  school = {ETH Zurich}
}