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Publications

arXiv Preprints

M. Imperoli and A. Pretto Active Detection and Localization of Textureless Objects in Cluttered Environments In arXiv preprint arXiv:1603.07022, 2016
(PDF,code, BibTeX)
@article{miap_arxiv2016,
  title={Active Detection and Localization of Textureless Objects 
         in Cluttered Environments},
  author={Imperoli, Marco and Pretto, Alberto},
  journal={arXiv preprint arXiv:1603.07022},
  year={2016}
}


Journal Papers

M. Imperoli, C. Potena, D. Nardi, G. Grisetti and A. Pretto An Effective Multi-Cue Positioning System for Agricultural Robotics In: IEEE Robotics and Automation Letters (to appear), 2018
(PDF,video, code, BibTeX)
@article{ipngp_RA-L2018,
  title={An Effective Multi-Cue Positioning System for 
         Agricultural Robotics},
  author={Imperoli, Marco and Potena, Ciro and Nardi, Daniele and 
          Grisetti, Giorgio and Pretto, Alberto},
  journal={IEEE Robotics and Automation Letters (to appear)},
  year={2018}
}


F. Basso, E. Menegatti and A. Pretto Robust Intrinsic and Extrinsic Calibration of RGB-D Cameras In: IEEE Transactions on Robotics (to appear), 2018
(PDF,code, BibTeX)
@article{bmp_T-RO2018,
  title={Robust Intrinsic and Extrinsic Calibration of {RGB-D} Cameras},
  author={Basso, Filippo and Menegatti, Emanuele and Pretto, Alberto},
  journal={IEEE Transactions on Robotics (to appear)},
  year={2018}
}


A. Bardella, M. Danieletto, E. Menegatti, A. Zanella, A. Pretto and P. Zanuttigh. Autonomous robot exploration in smart environments exploiting wireless sensors and visual features In: Annals of Telecommunications, August 2012, Volume 67, Issue 7-8, pp 297-311
(PDF, BibTeX)
@ARTICLE{BardellaAnnals_Telec2012,
  title={Autonomous robot exploration in smart environments 
         exploiting wireless sensors and visual features},
  author={Bardella, A. and Danieletto, M. and Menegatti, 
          E. and Zanella, A. and Pretto, A. and Zanuttigh, P.},
  Journal = {Annals of Telecommunications},
  volume    = {67},
  number    = {7-8},
  year      = {August 2012},
  pages     = {297--311},
}


A. Pretto, E. Menegatti, Y. Jitsukawa, R. Ueda, and T. Arai Image similarity based on Discrete Wavelet Transform for robots with low-computational resources In: Robotics and Autonomous Systems, Elsevier, Vol: 58, Issue: 7, July 2010, Pages 879-888
(PDF, BibTeX)
@ARTICLE{prettoRAS2010,
  title={Image similarity based on Discrete Wavelet Transform 
         for robots with low-computational resources},
  author={Pretto, A. and Menegatti, E. and Jitsukawa, Y. 
          and Ueda, R. and Arai, T.},
  Journal = {Robotics and Autonomous Systems, Elsevier},
  volume    = {58},
  number    = {7},
  year      = {July 2010},
  pages     = {879--888},
}


E. Menegatti, A. Pretto, A. Scarpa, E. Pagello Omnidirectional vision scan matching for robot localization in dynamic environmentsIn: IEEE Transactions on Robotics Vol: 22, Iss: 3 ISSN: 1552-3098, June 2006, pages 523- 535
(PDF, BibTeX)
@ARTICLE{MenegattiTRO06,
  title={Omnidirectional vision scan matching for robot localization 
	 in dynamic environments},
  author={Menegatti, E. and Pretto, A. and Scarpa, A. and Pagello, E.},
  journal={IEEE Transactions on Robotics},
  year={June 2006},
  volume={22},
  number = {3},
  pages={523--535}, 
}


Conference papers


C. Potena, B. Della Corte, D. Nardi, G, Grisetti and A. Pretto Non-Linear Model Predictive Control with Adaptive Time-Mesh Refinement In 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) - BEST STUDENT PAPER AWARD - FINALIST
(PDF, BibTeX)
@inproceedings{pdcSIMPAR2018,
  author    = {Potena, Ciro and Della Corte, Bartolo and
               Nardi, Daniele and Grisetti, Giorgio and 
               Pretto, Alberto},
  title     = {Non-Linear Model Predictive Control with Adaptive 
               Time-Mesh Refinement},
  booktitle = {{IEEE} {I}nternational {C}onference on {S}imulation,
               {M}odeling and {P}rogramming for {A}utonomous {R}obots 
               ({SIMPAR}) - accepted},
  year      = {2018}
}


D. Evangelista, W. U. Villa, M. Imperoli, A. Vanzo, L. Iocchi, D. Nardi and A. Pretto Grounding Natural Language Instructions in Industrial Robotics Proc. of the IROS 2017 Workshop "Human-Robot Interaction in Collaborative Manufacturing Environments (HRI-CME)"
(PDF, BibTeX)
@inproceedings{evan_HRI-CME2017,
  author    = {Evangelista, Daniele and Villa, Wilson Umberto and 
               Imperoli, Marco and Vanzo, Andrea and Iocchi, Luca and
               Nardi, Daniele and Pretto, Alberto},
  title     = {Grounding Natural Language Instructions in 
               Industrial Robotics},
  booktitle = {Proc. of the IROS 2017 Workshop "Human-Robot Interaction
               in Collaborative Manufacturing Environments (HRI-CME)"},
  year      = {2017}
}


C. Potena, D. Nardi and A. Pretto Effective Target Aware Visual Navigation for UAVs Proc. of the 2017 European Conference on Mobile Robots (ECMR)
(PDF, BibTeX)
@inproceedings{potenaECMR2017,
  author    = {Potena, Ciro and Nardi, Daniele and
               Pretto, Alberto},
  title     = {Effective Target Aware Visual Navigation for UAVs},
  booktitle = {Proc. of the European Conference on Mobile Robots
               ({ECMR})},
  year      = {2017}
}


M. Di Cicco, C. Potena, G. Grisetti and A. Pretto Automatic Model Based Dataset Generation for Fast and Accurate Crop and Weeds Detection Proc. of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
(PDF, BibTeX)
@inproceedings{dpgp_IROS2017,
  author    = {Di Cicco, Maurilio and Potena, Ciro and
               Grisetti, Giorgio and Pretto, Alberto},
  title     = {Automatic Model Based Dataset Generation for Fast and 
               Accurate Crop and Weeds Detection},
  booktitle = {Proc. of the {IEEE/RSJ} International Conference on
               Intelligent Robots and Systems ({IROS})},
  year      = {2017}
}


C. Potena, D. Nardi and A. Pretto Fast and Accurate Crop and Weed Identification with Summarized Train Sets for Precision Agriculture In Proceedings of the 14th International Conference on Intelligent Autonomous Systems (IAS-14), July 3-7 , 2016 Shanghai, China - BEST STUDENT PAPER AWARD - FINALIST
(PDF, BibTeX)
@inproceedings{pnp_ias2016,
  author={Potena, C. and Nardi, D. and Pretto, A.},
  title={Fast and Accurate Crop and Weed Identification
         with Summarized Train Sets for Precision Agriculture},
  booktitle={Proc. of the 14th International Conference on 
             Intelligent Autonomous Systems (IAS-14)},
  year={2016}
}


C. Potena, A. Pretto, D. D. Bloisi and D. Nardi Plane Extraction For Indoor Place Recognition In Proceedings of Advanced Concepts for Intelligent Vision Systems (ACIVS), Oct. 26-29, 2015 Catania, Italy, pages: 1-11
(PDF, BibTeX)
@inproceedings{potenaACIVS2015,
  author = {Potena, C. and Pretto, A. and Bloisi, D. D. and Nardi, D.},
  title = {Plane Extraction For Indoor Place Recognition},
  booktitle = {Proc. of Advanced Concepts for Intelligent Vision Systems
               (ACIVS)},
  year = {2015},
  pages = {1--11}
}


M. Imperoli and A. Pretto D2CO: Fast and Robust Registration of 3D Textureless Objects Using the Directional Chamfer Distance In Proceedings of the 10th International Conference on Computer Vision Systems (ICVS 2015), July 6-9 , 2015 Copenhagen, Denmark, pages: 316-328
(PDF,code, BibTeX)
@inproceedings{miap_icvs2015,
  author={Imperoli, M. and Pretto, A.},
  title={{D\textsuperscript{2}CO}: Fast and Robust Registration of {3D}
         Textureless Objects Using the {Directional 
         Chamfer Distance}},
  booktitle={Proc. of 10th International Conference on 
             Computer Vision Systems (ICVS 2015)},
  year={2015},
  pages={316--328}
}


A. Pretto and G. Grisetti Calibration and performance evaluation of low-cost IMUs In Proceedings of the 20th IMEKO TC4 International Symposium, Sep. 15 - 17, 2014 Benevento, Italy, pages: 429 - 434
(PDF,code, BibTeX)
@inproceedings{pg_imeko2014,
  title={Calibration and performance evaluation of low-cost IMUs},
  author={Pretto, A. and Grisetti, G.},
  booktitle={Proc. of: 20th IMEKO TC4 International Symposium},
  year={2014},
  pages={429--434}
}


D. Tedaldi, A. Pretto and E. Menegatti A Robust and Easy to Implement Method for IMU Calibration without External Equipments In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014), May 31 - June 7, 2014 Hong Kong, China, Page(s): 3042 - 3049
(PDF,code, BibTeX)
@inproceedings{tpm_icra2014,
  title={A Robust and Easy to Implement Method for IMU Calibration 
            without External Equipments},
  author={Tedaldi, A. and Pretto, A. and Menegatti, E.},
  booktitle={Proc. of: IEEE International Conference on Robotics and
                   Automation (ICRA)},
  year={2014},
  pages={3042--3049}
}


F. Basso, A. Pretto and E. Menegatti Unsupervised Intrinsic and Extrinsic Calibration of a Camera-Depth Sensor Couple In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014), May 31 - June 7, 2014 Hong Kong, China, Page(s): 6244 - 6249
(PDF, code, BibTeX)
@inproceedings{bassoICRA2014,
  title={Unsupervised Intrinsic and Extrinsic Calibration of a 
           Camera-Depth Sensor Couple},
  author={Basso, F. and Pretto, A. and Menegatti, E.},
  booktitle={Proc. of: IEEE International Conference on Robotics and 
                   Automation (ICRA)},
  year={2014},
  pages={6244--6249}
}


M. Antonello, A. Pretto and E. Menegatti Fast Incremental Objects Identification and Localization using Cross-correlation on a 6 DoF Voting Scheme In: Proc. of International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014), pages: 499-504
(PDF, BibTeX)
@inproceedings{antonelloVISIGRAPP2014,
  title={Fast Incremental Objects Identification and Localization 
            using Cross-correlation on a 6 DoF Voting Scheme},
  author={Antonello, M. and Pretto, A. and Menegatti, E.},
  booktitle={Proc. of: Proc. of International Joint Conference on 
                   Computer Vision, Imaging and Computer Graphics 
                   Theory and Applications (VISIGRAPP)},
  year={2014},
  pages={499--504}
}


A. Pretto, S. Tonello, E. Menegatti Flexible 3D Localization of Planar Objects for Industrial Bin-Picking with Monocamera Vision System In IEEE International Conference on Automation Science and Engineering (IEEE CASE 2013), Madison, Wisconsin, (USA), August 17-21, 2013
(PDF, BibTeX)
@inproceedings{prettoCASE2013,
  title={Flexible 3D Localization of Planar Objects for Industrial 
	 Bin-Picking with Monocamera Vision System},
  author={Pretto, A. and Tonello, S. and Menegatti, E.},
  booktitle={Proc. of: IEEE International Conference on 
           Automation Science and Engineering (CASE)},
  year={2013},
  pages={168 -- 175}
}


K. Tsotsos, A. Pretto, S. Soatto Visual-Inertial Ego-Motion Estimation for Humanoid Platforms Proc. of the IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka (Japan), Pages: 704-711 (PDF, BibTeX)
@inproceedings{tps_humanoids2012,
  title={Visual-Inertial Ego-Motion Estimation for Humanoid Platforms},
  author={Tsotsos, K. and Pretto, A. and Soatto, S.},
  booktitle={Proc. of: IEEE-RAS International Conference on 
                  Humanoid Robots},
  year={2012},
  pages={704--711}
}


A. Pretto, E. Menegatti and E. Pagello Omnidirectional Dense Large-Scale Mapping and Navigation Based on Meaningful Triangulation In IEEE International Conference on Robotics and Automation (ICRA 2011), May 9-13, 2011 Shanghai (China), Pages: 3289 - 3296
(PDF, BibTeX)
@inproceedings{prettoICRA2011,
  author    = {Pretto, A. and Menegatti, E. and
               Pagello, E.},
  title     = {Omnidirectional Dense Large-Scale Mapping and Navigation 
               Based on Meaningful Triangulation},
  booktitle = {Proc. of. IEEE International Conference 
               on Robotics and Automation (ICRA)},
  year      = {2011},
  pages     = {3289--3296},
}


E. Menegatti, M. Danieletto, M. Mina, A. Pretto, S. Zanconato, P. Zanuttigh, A. Zanella Autonomous discovery, localization and recognition of smart objects through WSN and image features In: IEEE International Workshop Towards Smart Communications and Network technologies applied on Autonomous Systems (SaCoNAS), IEEE GLOBECOM 2010 - BEST PAPER AWARD
(PDF, BibTeX)
@inproceedings{menegattiSaconas2010,
  title={Autonomous discovery, localization and recognition of 
         smart objects through WSN and image features},
  author={Menegatti, E. and Danieletto, M. and Mina, M. and Pretto, A. 
          Zanconato, S. and Zanuttigh, P. and Zanella, A.},
  booktitle = {Proc. of: IEEE International Workshop Towards Smart 
               Communications and Network technologies applied on 
               Autonomous Systems (SaCoNAS), IEEE GLOBECOM},
  year      = {2010}
}


E. Menegatti, M. Danieletto, M. Mina, A. Pretto, A. Bardella, A. Zanella and P. Zanuttigh Discovery, localization, and recognition of smart objects by a mobile robot In: International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2010)
(PDF, BibTeX)
@inproceedings{menegattiSIMPAR2012,
  title={Discovery, localization, and recognition of smart objects 
         by a mobile robot},
  author={Menegatti, E. and Danieletto, M. and Mina, M. and Pretto, A. 
          and Bardella, A. Zanella, A. and Zanuttigh, P.},
  booktitle = {Proc. of: International Conference on Simulation, 
               Modeling and Programming for Autonomous Robots 
               (SIMPAR)},
  year      = {2010}
}


J. Meltzer, A. Pretto, B. Taylor and S. Soatto Closing the Recognition Loop: Recognizing and Searching for Objects in the Real World In: Towards Closing the Loop: Active Learning for Robotics - Workshop at Robotics: Science and Systems Conference 2010 (poster)


A. Pretto and E. Menegatti Omnidirectional Dense Structure Reconstruction Based on Meaningful Reconstruction In: OMNIVIS 2010: The 10th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras - Robotics: Science and Systems Conference 2010 (poster)


A. Pretto, S. Soatto and E. Menegatti Scalable Dense Large-Scale Mapping and Navigation In: 2010 IEEE International Conference on Robotics and Automation, Workshop on Omnidirectional Robot Vision.
(PDF, BibTeX)
@INPROCEEDINGS{prettoOVR2010,
AUTHOR = {Pretto, A. and Soatto, S. and Menegatti, E.},
TITLE = {Scalable Dense Large-Scale Mapping and Navigation},
BOOKTITLE = {Proc. of:  Workshop on Omnidirectional 
             Robot Vision (ICRA)},
YEAR = {2010}
}


A. Pretto, E. Menegatti, P. Bison, E. Grinzato, G. Cadelano and E.Pagello An Autonomous Robotized System for a Thermographic Camera In: International Symposium on Robotics (ISR 2010) 7-9 June 2010, Munich - Germany
(PDF, BibTeX)
@INPROCEEDINGS{prettoISR2010,
AUTHOR = {Pretto, A. and Menegatti, E. and Bison, P. and Grinzato, 
          E. and Cadelano, G. and Pagello, E.},
TITLE = {An Autonomous Robotized System for a Thermographic Camera},
BOOKTITLE = {Proceddings of:  International Symposium 
             on Robotics (ISR).},
YEAR = {2010}
}


S. Ghidoni, A. Pretto and E. Menegatti Cooperative Tracking of Moving Objects and Face Detection with a Dual Camera Sensor In: Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA), May 7, 2010, Anchorage, (USA), pages 2568-2573
(PDF, BibTeX)
@inproceedings{ghidoniICRA2010,
  author    = {Ghidoni, S. and Pretto, A. and Menegatti, E.},
  title     = {Cooperative Tracking of Moving Objects and 
               Face Detection with a Dual Camera Sensor},
  booktitle = {Proc. of. IEEE International Conference 
               on Robotics and Automation (ICRA)},
  year      = {2010},
  pages     = {2568--2573},
}


A. Pretto, E. Menegatti, P. Bison and E. Grinzato. Automatic Indoor Environmental Conditions Monitoring by IR Thermography In: NDT in Canada 2009 National Conference, August 25 -27, 2009 London, Ontario


E.Pagello, E.Menegatti, and A.Pretto. A Visual SLAM-based system able to process images affected by motion-blur In: Workshop Robotica mobile per esplorazione Lunare Unmanned, Roma, 1 – 2 luglio 2009


A. Pretto, E. Menegatti, M. Bennewitz, W. Burgard, and E. Pagello. A Visual Odometry Framework Robust to Motion Blur In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2009), pages: 2250 - 2257
(PDF, BibTeX)
@inproceedings{PrettoICRA09,
    author =  {Pretto, A. and Menegatti, E. and Bennewitz, M. 
               and Burgard, W. and Pagello, E.},
    title =  {A Visual Odometry Framework Robust to Motion Blur},
    year =  {2009},
    booktitle =  {Proc. of the IEEE International Conference 
                  on Robotics and Automation (ICRA)},
    pages     = {2250 -- 2257},
}


A. Pretto, E. Menegatti, M. Takahashi, T. Suzuki and E. Pagello. Visual Odometry for an Omnidirectional-drive Robot In: Proceedings of the 6th International Symposium on Mechatronics and its Applications (ISMA09)


A. Pretto, E. Menegatti, E. Pagello Reliable Features Matching for Humanoid Robots IEEE-RAS International Conference on Humanoid Robots (Humanoids 2007), November 2007, Pittsburgh, Usa, Pages: 532 - 538
(PDF, BibTeX)
@inproceedings{prettoHumanoids2007,
  title={Reliable Features Matching for Humanoid Robots},
  author={A. Pretto and E. Menegatti and E. Pagello},
  booktitle={IEEE-RAS International Conference on Humanoid Robots},
  year={2007},
  pages={532 -- 538},
}


A. Pretto, E. Menegatti, E. Pagello, Y. Jitsukawa, R. Ueda, T. Arai Toward image-based localization for AIBO using wavelet transform 10th Congress of the Italian Association for Artificial Intelligence (AI*IA '07) LNAI 4733, September 10-13, 2007, Roma, Italy, pp. 831-838
(PDF, BibTeX)
@inproceedings{prettoAIIA07,
  AUTHOR = {Pretto, A. and Menegatti, E. and Pagello, E. and 
            Jitsukawa, Y. and Ueda, R. and Arai, T.},
  TITLE = {Toward Image-Based Localization for AIBO using 
           Wavelet Transform},
  booktitle = {10th Congress of the Italian Association for 
             Artificial Intelligence (AI*IA '07)},
  YEAR = {2007},
  pages={831--838}, 
}


A. Lastra, A. Pretto, S. Tonello and E. Menegatti Robust color-based skin detection for an interactive robot10th Congress of the Italian Association for Artificial Intelligence (AI*IA '07) LNAI 4733, September 10-13, 2007, Roma, Italy, pp. 507-518
(PDF, BibTeX)
@inproceedings{lastraAIIA07,
  AUTHOR = {Lastra, A. and Pretto, A. and Tonello, S. and 
            Menegatti, E.},
  TITLE = {Robust color-based skin detection for an 
           interactive robot },
  booktitle = {10th Congress of the Italian Association for 
             Artificial Intelligence (AI*IA '07)},
  YEAR = {2007},
  pages={507--518}, 
}


E. Menegatti, A. Pretto, S. Tonello, A. Lastra, A. Guatti A robotic sculpture speaking to people IEEE International Conference on Robotics and Automation (ICRA07) 10-14 April 2007, Roma, Italy, (video contribution)


E. Pagello, G. Clemente, A. D'Angelo, E. Menegatti, A. Pretto, S. Tonello A Surveillance System based on a Distributed Vision System cooperating with a Mobile Robot International Symposium on Robotics (ISR 2005) November   2005, Tokyo - Japan


E. Menegatti, A. Pretto, and E. Pagello Testing omnidirectional vision-based Monte-Carlo Localization under occlusion Proc. of International Conference on Intelligent Robots and Systems IROS 2004, September 2004, Sendai, Japan pp. 2487--2494
(PDF, BibTeX)
@inproceedings{MenegattiIROS04-OMCL,
  Author = {Menegatti, E. and Pretto, A. and Pagello, E.},
  Title = {Testing Omnidirectional Vision-Based Monte-Carlo 
           Localization under Occlusion},
  booktitle = {Proc. of the {IEEE/RSJ} International Conference on
               Intelligent Robots and Systems ({IROS})},
  Pages = {2487--2494},
  Year = {2004}
}


E. Menegatti, A. Pretto, E. Pagello A New Omnidirectional Vision Sensor for Monte-Carlo Localization Proc. of the 2004 Int. RoboCup Symposium
(PDF, BibTeX)
@inproceedings{MenegattiRobocup04,
  Author = {Menegatti, E. and Pretto, A. and Pagello, E.},
  Booktitle = {Proc. of: International RoboCup Symposium},
  Title = {A New Omnidirectional Vision Sensor for 
           Monte-Carlo Localization},
  Year = {2004}
}


Thesis



A. Pretto Visual-SLAM for Humanoid Robots, Ph.D. thesis, University of Padova, 2009
(PDF, BibTeX)
@book{prettoPhDthesis,
  author = {Pretto, A.}, 
  title = {Visual-SLAM for Humanoid Robots},
  publisher = {Ph.D. Thesis, Department of Information 
               Engineering, The University of Padua},
  year = {2009},
}


A. Pretto Localizzazione di Monte-Carlo in Ambiente RoboCup, Master's thesis,University of Padova, 2003. In Italian



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Latest News

  • June 19 2018: Our paper "An Effective Multi-Cue Positioning System for Agricultural Robotics" has been accepted for publication as a Regular Paper in the IEEE Robotics and Automation Letters!

  • May 21 2018: Our paper "Robust Intrinsic and Extrinsic Calibration of RGB-D Cameras" has been accepted for publication as a Regular Paper in the IEEE Transactions on Robotics!

  • May, 19 2018: Our paper "Non-Linear Model Predictive Control with Adaptive Time-Mesh Refinement" has has been selected as a finalist for the best student paper award at SIMPAR 2018!

  • June 28 2017: Our paper "Effective Target Aware Visual Navigation for UAVs" has been accepted at ECMR 2017

  • June 15 2017: Our paper "Automatic Model Based Dataset Generation for Fast and Accurate Crop and Weeds Detection" has been accepted at IROS 2017

  • April 2017: We successfully presented a demo of an early version of the FlexSight sensor prototype at Hannover Messe 2017: see a video in the ECHORD++ FlexSight Project section.