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Publications

arXiv Preprints

F. Basso, E. Menegatti and A. Pretto Robust Intrinsic and Extrinsic Calibration of RGB-D Cameras In arXiv preprint arXiv:1701.05748, 2017
(PDF,code, BibTeX)
@article{bmp_arxiv2017,
  title={Robust Intrinsic and Extrinsic Calibration of {RGB-D} Cameras},
  author={Basso, Filippo and Menegatti, Emanuele and Pretto, Alberto},
  journal={arXiv preprint arXiv:1701.05748},
  year={2017}
}


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

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 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 environments 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, D. Nardi and A. Pretto Effective Target Aware Visual Navigation for UAVs Proc. of the 2017 European Conference on Mobile Robots (ECMR) - accepted
(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) - accepted
(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, 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.

  • July 2016: Our paper entitled "Fast and Accurate Crop and Weed Identification with Summarized Train Sets for Precision Agriculture" has been selected as one of the finalists for the 14th International Conference on Intelligent Autonomous Systems (IAS-14) Best Student Paper Award!