AIRWiki - User contributions [en]

User:FilippoRottoli

2009-09-28T08:08:53Z

FilippoRottoli:

== Filippo Maria Rottoli ==

{{Userbox header|Filippo Maria Rottoli}}
|- {{#if:UserFilippoRottoliPhoto.jpg|||class="hiddenStructure noprint"}} | {{Userbox photo|UserFilippoRottoliPhoto.jpg}}
{{Userbox UserName|Filippo Maria}}
{{Userbox UserLastName|Rottoli}}
{{Userbox UserEmail|rottofili (at) gmail (dot) com}}
{{Userbox linkusr|Advisor|MatteoMatteucci}}
{{Userbox link|Project page|Robust data association for high-speed SLAM}}

{{Userbox footer}}

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus - Italy'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI's research group on System Architectures, regarding the problem of Design Space Exploration applied to configurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus - Italy'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceedings of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS'' (Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Applications Developer at [http://www.csamed.it CSAmed s.r.l.]'''

Matured experience especially in the field of Web Applications Development for mobile devices.

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-09-28T08:08:03Z

FilippoRottoli:

== Filippo Maria Rottoli ==

{{Userbox header|Filippo Maria Rottoli}}
|- {{#if:UserFilippoRottoliPhoto.jpg|||class="hiddenStructure noprint"}} | {{Userbox photo|UserFilippoRottoliPhoto.jpg}}
{{Userbox UserName|Filippo Maria}}
{{Userbox UserLastName|Rottoli}}
{{Userbox UserEmail|rottofili (at) gmail (dot) com}}
{{Userbox linkusr|Advisor|MatteoMatteucci}}
{{Userbox link|Project page|Robust data association for high-speed SLAM}}

{{Userbox footer}}

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus - Italy'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI's research group on System Architectures, regarding the problem of Design Space Exploration applied to configurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus - Italy'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS'' (Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Applications Developer at [http://www.csamed.it CSAmed s.r.l.]'''

Matured experience especially in the field of Web Applications Development for mobile devices.

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

Robust data association for high-speed SLAM

2009-09-01T20:35:07Z

FilippoRottoli:

== '''Part 1: project profile''' ==

=== Project name ===

Robust data association for high-speed SLAM

=== Project short description ===

The purpose of this project is to approach the problem of robust data association in the context of Simultaneous Localization And Mapping (SLAM) for mobile robots using digital cameras as input data sources, by finding a method that could allow the SLAM problem to be solved very quickly, possibly even in real-time, thanks also to the use of parallelization strategies.
In particular, a study of the possible applications of parallelization strategies inspired by the Particle Swarm Metaheuristic will be performed.

=== Dates ===
Start date: 2009/07/22

End date: Not already defined

=== Website(s) ===

None

=== People involved ===

===== Project head(s) =====

[[User:MatteoMatteucci|Prof. Matteo Matteucci]]

===== Other Politecnico di Milano people =====

[[User:DavideMigliore|Davide Migliore]]

===== Students currently working on the project =====

[[User:FilippoRottoli|Filippo Rottoli]]

===== Students who worked on the project in the past =====

None

===== External personnel =====

None

=== Laboratory work and risk analysis ===

The work will consists only of software development, test and analysis, so no risks are associated with the laboratory's activities for this project.

== '''Part 2: project description''' ==

==== Premises ====

A problem is defined as a Simultaneous Localization And Mapping (SLAM) one if it asks to a mobile robot equipped with a sensor to build a map of the environment in which it is placed and, at the same time, to use this map to compute its location.

The strictly coupled data association problem consists of relating sensor's observations with elements in the map by finding the correct matches.

This project has as its final goal to detect a robust data association algorithm for the SLAM problem involving mobile robots using digital cameras as sensors, that could be executed at high speed, possibly even in real-time, thanks also to the use of parallelization strategies.
At this regard, the introduction of techniques inspired by the Partice Swarm Metaheuristic will be considered with great attention, due to both the high potential in the distribution of the execution effort of such techniques, and to the good results that Particle Swarm Optimizers have demonstrated to obtain (at least on average), also on highly complex problems.

==== Oganization of the work ====

This project will be organized according to the following main steps:
# At first, a set of robust and efficient data association algorithms (e.g.: JCBB, RJB, RANSAC, Preemptive RANSAC, Davison and Kli Mutual Information Algorithm, MLSAC and SwarmSAC), selected from the state of the art, will be implemented and compared, producing a first batch of benchmark results.
# Then, the benchmark data will be analyzed in order to detect the best algorithms and the possible key features to calibrate in order to obtain better performances without sacrificing the results' quality and the robustness.
# A further step (as stated in the previous section) will consists in exploring the possibility to insert techniques inspired by the Particle Swarm Metaheuristic within the selected algorithms (or modifications of those already used, such as for the case of SwarmSAC), due to the high level of parallelism that characterizes this kind of Metaheuristic.
# Eventually, comparisons between all the algorithms implemented in the project will be performed and final conclusions will be drawn.

==== Technical details ====

All the project's algorithms will be written in C and C++ code using:

* OpenCV libraries because of the fact they are becoming the "de facto" standard in the realization of Computer Vision applications and due to the fact they are optimzed to run efficiently on the platforms for which they are available.
* Intel IPP and Intel Math Kernel libraries in order to build applications that could take advantage of high-performance parallel execution especially on multi-core machines.

==== Main references ====

* Hartely R., Zisserman A., ''Multiple View Geometry in Computer Vision, 2nd ed.'', Cambridge University Press, 2004
* Bradki G., Kaehler A., ''Learning OpenCV: Computer Vision with the OpenCV Library, 1st ed.'', O'Reilly Media Inc., 2008
* Engelbrecht A. P., ''Fundamental of Computational Swarm Intelligence, 1st ed.'', Wiley, 2006
* Poli R., Kennedy J., Blackwell T., Freitas A., ''Particle Swarm: The Second Decade'', Hindawi Publishing Corp US SR, 2008
* Eberhart R. C., Shi Y., Kennedy J., ''Swarm Intelligence, 1st ed.'', Morgan Kaufmann, 2001

User:FilippoRottoli

2009-08-28T22:04:02Z

FilippoRottoli: /* Filippo Maria Rottoli */

== Filippo Maria Rottoli ==

{{Userbox header|Filippo Maria Rottoli}}
|- {{#if:UserFilippoRottoliPhoto.jpg|||class="hiddenStructure noprint"}} | {{Userbox photo|UserFilippoRottoliPhoto.jpg}}
{{Userbox UserName|Filippo Maria}}
{{Userbox UserLastName|Rottoli}}
{{Userbox UserEmail|rottofili (at) gmail (dot) com}}
{{Userbox linkusr|Advisor|MatteoMatteucci}}
{{Userbox link|Project page|Robust data association for high-speed SLAM}}

{{Userbox footer}}

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus - Italy'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI's research group on System Architectures, regarding the problem of Design Space exploration applied to configurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus - Italy'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS'' (Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Applications Developer at [http://www.csamed.it CSAmed s.r.l.]'''

Matured experience especially in the field of Web Applications Development for mobile devices.

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

Robust data association for high-speed SLAM

2009-08-28T21:58:24Z

FilippoRottoli:

== '''Part 1: project profile''' ==

=== Project name ===

Robust data association for high-speed SLAM

=== Project short description ===

The purpose of this project is to approach the problem of robust data association in the context of Simultaneous Localization And Mapping (SLAM) for mobile robots using digital cameras as input data sources, by finding a method that could allow the SLAM problem to be solved very quickly, possibly even in real-time, thanks also to the use of parallelization strategies.
In particular, a study of the possible applications of parallelization strategies inspired by the Particle Swarm Metaheuristic will be performed.

=== Dates ===
Start date: 2009/07/22

End date: Not already defined

=== Website(s) ===

None

=== People involved ===

===== Project head(s) =====

[[User:MatteoMatteucci|Prof. Matteo Matteucci]]

===== Other Politecnico di Milano people =====

[[User:DavideMigliore|Davide Migliore]]

===== Students currently working on the project =====

[[User:FilippoRottoli|Filippo Rottoli]]

===== Students who worked on the project in the past =====

None

===== External personnel =====

None

=== Laboratory work and risk analysis ===

The work will consists only of software development, test and analysis, so no risks are associated with the laboratory's activities for this project.

== '''Part 2: project description''' ==

==== Premises ====

A problem is defined as a Simultaneous Localization And Mapping (SLAM) one if it asks to a mobile robot equipped with a sensor to build a map of the environment in which it is placed and, at the same time, to use this map to compute its location.

The strictly coupled data association problem consists of relating sensor's observations with elements in the map by finding the correct matches.

This project has as its final goal to detect a robust data association algorithm for the SLAM problem involving mobile robots using digital cameras as sensors, that could be executed at high speed, possibly even in real-time, thanks also to the use of parallelization strategies.
At this regard, the introduction of techniques inspired by the Partice Swarm Metaheuristic will be considered with great attention, due to both the high potential in the distribution of the execution effort of such techniques, and to the good results that Particle Swarm Optimizers have demonstrated to obtain (at least on average), also on highly complex problems.

==== Oganization of the work ====

This project will be organized according to the following main steps:
# At first, a set of robust and efficient data association algorithms (e.g.: JCBB, RJB, RANSAC, Preemptive RANSAC, Davison and Kli Mutual Information Algorith, MLSAC and SwarmSAC), selected from the state of the art, will be implemented and compared, producing a first batch of benchmark results.
# Then, the benchmark data will be analyzed in order to detect the best algorithms and the possible key features to calibrate in order to obtain better performances without sacrificing the results' quality and the robustness.
# A further step (as stated in the previous section) will consists in exploring the possibility to insert techniques inspired by the Particle Swarm Metaheuristic within the selected algorithms (or modifications of those already used, such as for the case of SwarmSAC), due to the high level of parallelism that characterizes this kind of Metaheuristic.
# Eventually, comparisons between all the algorithms implemented in the project will be performed and final conclusions will be drawn.

==== Technical details ====

All the project's algorithms will be written in C and C++ code using:

* OpenCV libraries because of the fact they are becoming the "de facto" standard in the realization of Computer Vision applications and due to the fact they are optimzed to run efficiently on the platforms for which they are available.
* Intel IPP and Intel Math Kernel libraries in order to build applications that could take advantage of high-performance parallel execution especially on multi-core machines.

==== Main references ====

* Hartely R., Zisserman A., ''Multiple View Geometry in Computer Vision, 2nd ed.'', Cambridge University Press, 2004
* Bradki G., Kaehler A., ''Learning OpenCV: Computer Vision with the OpenCV Library, 1st ed.'', O'Reilly Media Inc., 2008
* Engelbrecht A. P., ''Fundamental of Computational Swarm Intelligence, 1st ed.'', Wiley, 2006
* Poli R., Kennedy J., Blackwell T., Freitas A., ''Particle Swarm: The Second Decade'', Hindawi Publishing Corp US SR, 2008
* Eberhart R. C., Shi Y., Kennedy J., ''Swarm Intelligence, 1st ed.'', Morgan Kaufmann, 2001

User:FilippoRottoli

2009-08-28T21:56:37Z

FilippoRottoli: /* Filippo Maria Rottoli */

== Filippo Maria Rottoli ==

{{Userbox header|Filippo Maria Rottoli}}
|- {{#if:UserFilippoRottoliPhoto.jpg|||class="hiddenStructure noprint"}} | {{Userbox photo|UserFilippoRottoliPhoto.jpg}}
{{Userbox UserName|Filippo Maria}}
{{Userbox UserLastName|Rottoli}}
{{Userbox UserEmail|rottofili (at) gmail (dot) com}}
{{Userbox linkusr|Advisor|MatteoMatteucci}}
{{Userbox link|Project page|Robust data association for high-speed SLAM}}

{{Userbox footer}}

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus - Italy'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI's research group on System Architectures, regarding the problem of Design Space exploration applied to configurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus - Italy'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS'' (Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Applications Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web Applications Development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

File:UserFilippoRottoliPhoto.jpg

2009-08-28T21:51:25Z

FilippoRottoli:

User:FilippoRottoli

2009-08-28T21:50:07Z

FilippoRottoli: /* Filippo Maria Rottoli */

== Filippo Maria Rottoli ==

{{Userbox header|Filippo Maria Rottoli}}
|- {{#if:{{{photo|}}}||class="hiddenStructure noprint"}} | {{Userbox photo|{{{photo}}}}}
{{Userbox UserName|Filippo Maria}}
{{Userbox UserLastName|Rottoli}}
{{Userbox UserEmail|rottofili (at) gmail (dot) com}}
{{Userbox linkusr|Advisor|MatteoMatteucci}}
{{Userbox link|Project page|Robust data association for high-speed SLAM}}

{{Userbox footer}}

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus - Italy'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI's research group on System Architectures, regarding the problem of Design Space exploration applied to configurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus - Italy'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS'' (Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Applications Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web Applications Development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-08-28T21:27:01Z

FilippoRottoli: /* Filippo Maria Rottoli */

== Filippo Maria Rottoli ==

=== Personal data ===
* '''First name:''' Filippo Maria
* '''Last name:''' Rottoli
* '''Date of birth:''' May 10, 1983
* '''Place of birth:''' Cremona (CR) - Italy
* '''Personal e-mail address:''' rottofili (at) gmail (dot) com
* '''Official e-mail address:''' filippo (dot) rottoli (at) mail (dot) polimi (dot) it

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI System Architectures' research group regarding the problem of Design Space exploration applied to congfigurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS'' (Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Applications Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web Applications Development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-08-28T21:24:18Z

FilippoRottoli: /* Filippo Maria Rottoli */

== Filippo Maria Rottoli ==

=== Personal data ===
* '''First name:''' Filippo Maria
* '''Last name:''' Rottoli
* '''Date of birth:''' May 10, 1983
* '''Place of birth:''' Cremona (CR) - Italy
* '''Personal e-mail address:''' rottofili (at) gmail (dot) com
* '''Official e-mail address:''' filippo (dot) rottoli (at) mail (dot) polimi (dot) it

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI System Architectures' research group regarding the problem of Design Space exploration applied to congfigurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS'' (Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Applications Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web applications development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-08-28T21:23:19Z

FilippoRottoli: /* Filippo Maria Rottoli */

== Filippo Maria Rottoli ==

=== Personal data ===
* '''First name:''' Filippo Maria
* '''Last name:''' Rottoli
* '''Date of birth:''' May 10, 1983
* '''Place of birth:''' Cremona (CR) - Italy
* '''Personal e-mail address:''' rottofili (at) gmail (dot) com
* '''Official e-mail address:''' filippo (dot) rottoli (at) mail (dot) polimi (dot) it

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI System Architectures' research group regarding the problem of Design Space exploration applied to congfigurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS'' (Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Applications Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web applications' development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-08-28T21:21:58Z

FilippoRottoli: /* Filippo Maria Rottoli */

== Filippo Maria Rottoli ==

=== Personal data ===
* '''First name:''' Filippo Maria
* '''Last name:''' Rottoli
* '''Date of birth:''' May 10, 1983
* '''Place of birth:''' Cremona (CR) - Italy
* '''Personal e-mail address:''' rottofili (at) gmail (dot) com
* '''Official e-mail address:''' filippo (dot) rottoli (at) mail (dot) polimi (dot) it

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI System Architectures' research group regarding the problem of Design Space exploration applied to congfigurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS'' (Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Application Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web applications' development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-08-28T21:20:46Z

FilippoRottoli: /* Filippo Maria Rottoli */

== Filippo Maria Rottoli ==

=== Personal data ===
* '''First name:''' Filippo Maria
* '''Last name:''' Rottoli
* '''Date of birth:''' May 10, 1983
* '''Place of birth:''' Cremona (CR) - Italy
* '''Personal e-mail address:''' rottofili (at) gmail (dot) com
* '''Official e-mail address:''' filippo (dot) rottoli (at) mail (dot) polimi (dot) it

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI System Architectures' research group regarding the problem of Design Space exploration applied to congfigurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS''(Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Application Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web applications' development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-08-28T21:18:39Z

FilippoRottoli: /* Filippo Maria Rottoli */

== Filippo Maria Rottoli ==

=== Personal data ===
* '''First name:''' Filippo Maria
* '''Last name:''' Rottoli
* '''Date of birth:''' May 10, 1983
* '''Place of birth:''' Cremona (CR) - Italy
* '''Personal e-mail address:''' rottofili (at) gmail (dot) com
* '''Official e-mail address:''' filippo (dot) rottoli (at) mail (dot) polimi (dot) it

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI System Architectures' research group regarding the problem of Design Space exploration applied to congfigurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors: M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS''(Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Application Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web applications' development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-08-28T21:17:58Z

FilippoRottoli: /* Personal data */

== Filippo Maria Rottoli ==

=== Personal data ===
* '''First name:''' Filippo Maria
* '''Last name:''' Rottoli
* '''Date of birth:''' May 10, 1983
* '''Place of birth:''' Cremona (CR) - Italy
* '''Personal e-mail address:''' rottofili (at) gmail (dot) com
* '''Official e-mail address:''' filippo (dot) rottoli (at) mail (dot) polimi (dot) it

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI System Architectures' research group regarding the problem of Design Space exploration applied to congfigurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors: M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS''(Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Application Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web applications' development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-08-28T21:16:30Z

FilippoRottoli: /* Filippo Maria Rottoli */

== Filippo Maria Rottoli ==

=== Personal data ===
* '''First name:''' Filippo Maria
* '''Last name:''' Rottoli
* '''Date of birth:''' May 10, 1983
* '''Place of birth:''' Cremona (CR) - Italy
* '''Personal phone number:''' 3293444302
* '''Personal e-mail address:''' rottofili (at) gmail (dot) com
* '''Official e-mail address:''' filippo (dot) rottoli (at) mail (dot) polimi (dot) it

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI System Architectures' research group regarding the problem of Design Space exploration applied to congfigurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors: M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS''(Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Application Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web applications' development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-08-28T21:15:29Z

FilippoRottoli: /* Personal data */

== Filippo Maria Rottoli ==

=== Personal data ===
* '''First name:''' Filippo Maria
* '''Last name:''' Rottoli
* '''Date of birth:''' May 10, 1983
* '''Place of birth:''' Cremona (CR) - Italy
* '''Personal phone number:''' 3293444302
* '''Personal e-mail address:''' rottofili (at) gmail (dot) com
* '''Official e-mail address:''' filippo (dot) rottoli (at) mail (dot) polimi (dot) it

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI System Architectures' research group regarding the problem of Design Space exploration applied to congfigurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors: M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS''(Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Application Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web applications' development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-08-28T21:12:06Z

FilippoRottoli: /* Personal data */

== Filippo Maria Rottoli ==

=== Personal data ===
* '''First name:''' Filippo Maria
* '''Last name:''' Rottoli
* '''Date of birth:''' May 10, 1983
* '''Place of birth:''' Cremona (CR) - Italy
* '''Personal phone number:''' 3293444302
* '''E-Mail:''' rottofili (at) gmail (dot) com

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI System Architectures' research group regarding the problem of Design Space exploration applied to congfigurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors: M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS''(Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Application Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web applications' development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

User:FilippoRottoli

2009-08-28T21:11:35Z

FilippoRottoli: New page: == Filippo Maria Rottoli == === Personal data === * '''First name:''' Filippo Maria * '''Last name:''' Rottoli * '''Date of birth:''' May 10, 1983 * '''Place of birth:''' Cremona (CR) - I...

== Filippo Maria Rottoli ==

=== Personal data ===
* '''First name:''' Filippo Maria
* '''Last name:''' Rottoli
* '''Date of birth:''' May 10, 1983
* '''Place of birth:''' Cremona (CR) - Italy
* '''Personal phone number:''' 3293444302
* '''E-Mail:''' filippo (dot) rottoli (at) gmail (dot) com

=== Education ===
* '''September 2005 - Present: Attending Master of Science in Computer Engineering, Politecnico di Milano, Como Campus'''
** ''Final average grade: 29.10''
** Notes: October 2007 - July 2009: Collaboration with DEI System Architectures' research group regarding the problem of Design Space exploration applied to congfigurable system architectures.
* '''September 2002 - September 2005: Degree in Computer Engineering, Politecnico di Milano, Cremona Campus'''
** ''Final grade: 107/110''
** Notes: Earned merit certificates in the academic years 2003-2004 and 2004-2005 for high average grades.
* '''September 1997 - July 2002: Maturità scientifica, Liceo Scientifico Tecnologico c/o ITIS <nowiki>''Galileo Galilei''</nowiki>, Crema (CR) - Italy'''
** Final grade: 100/100 cum laude
** Notes: Last year average grade higher than 9.5 out of 10

=== Papers in proceeding of international conferences ===

* '''Authors:''' M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Year of publication:''' 2008
* '''Title:''' ''An Open Source Rich Client Solution for Archaeological Mobile GIS''
* '''Published in:''' The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* '''Notes:''' Proceeding of the XXI Congress of the International Society for Photogrammetry and Remote Sensing, Beijing (China), 3-11 July 2008

=== Oral presentation at national symposia ===

* '''Authors: M. A. Brovelli, D. Magni, M. Orlando, and '''F. Rottoli'''
* '''Presentation title:''' ''Soluzione Rich Client Open Source per Mobile GIS''(Rich Client Open Source solution for Mobile GIS)
* '''Symposium:''' IX Meeting degli Utenti Italiani di GRASS e GFOSS (IX Meeting of Italian Users of GRASS and GFOSS), February 21st - 22nd, 2008, Perugia (PG) - Italy
* '''Notes:''' Oral presentation by '''F. Rottoli'''

=== Professional experience ===

'''December 2008 - Present: Web Application Developer at [http://www.csamed.it CSAmed s.r.l.]'''.

Earned experience especially in the field of Web applications' development for mobile devices

=== Topics of personal interest inside Computer Science ===

Swarm Intelligence (in particular '''Particle Swarm Optization'''), Evolutionary Computation, Parallel Programming, Multi-core System Architectures, Web Design and Web Applications Development (especially using Rich Clients' technologies)

=== Links ===

* [http://www.isprs.org/congresses/beijing2008/proceedings/4_pdf/129.pdf Full paper] of '''An Open Source Rich Client Solution for Archaeological Mobile GIS''', ''M.A.Brovelli, D.Magni, M.Orlando and F.Rottoli'', The International Archive of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVII, part B4, commission IV, pp. 731-738 (ISSN 1682-1750)
* [http://www.grassmeeting2008.unipg.it/?q=node/72 Summary] of the oral presentation held at the IX Meeting of Italian Users of GRASS and GFOSS, February 21st - 22nd, 2008, Perugia (PG) - Italy

* [http://www.linkedin.com/pub/filippo-rottoli/10/b15/806 Link] to my ''LinkedIn'' public profile

Robust data association for high-speed SLAM

2009-08-27T20:51:43Z

FilippoRottoli:

== '''Part 1: project profile''' ==

=== Project name ===

Robust data association for high-speed SLAM.

=== Project short description ===

The purpose of this project is to approach the problem of robust data association in the context of Simultaneous Localization And Mapping (SLAM) for mobile robots using digital cameras as input data sources, by finding a method that could allow the SLAM problem to be solved very quickly, possibly even in real-time, thanks also to the use of parallelization strategies.
In particular, a study of the possible applications of parallelization strategies inspired by the Particle Swarm Metaheuristic will be performed.

=== Dates ===
Start date: 2009/07/22

End date: Not already defined.

=== Website(s) ===

None.

=== People involved ===

===== Project head(s) =====

[[User:MatteoMatteucci|Prof. Matteo Matteucci]]

===== Other Politecnico di Milano people =====

[[User:DavideMigliore|Davide Migliore]]

===== Students currently working on the project =====

[[User:FilippoRottoli|Filippo Rottoli]]

===== Students who worked on the project in the past =====

None.

===== External personnel =====

None.

=== Laboratory work and risk analysis ===

The work will consists only of software development, test and analysis, so no risks are associated with the laboratory's activities for this project.

== '''Part 2: project description''' ==

==== Premises ====

A problem is defined as a Simultaneous Localization And Mapping (SLAM) one if it asks to a mobile robot equipped with a sensor to build a map of the environment in which it is placed and, at the same time, to use this map to compute its location.

The strictly coupled data association problem consists of relating sensor's observations with elements in the map by finding the correct matches.

This project has as its final goal to detect a robust data association algorithm for the SLAM problem involving mobile robots using digital cameras as sensors, that could be executed at high speed, possibly even in real-time, thanks also to the use of parallelization strategies.
At this regard, the introduction of techniques inspired by the Partice Swarm Metaheuristic will be considered with great attention, due to both the high potential in the distribution of the execution effort of such techniques, and to the good results that Particle Swarm Optimizers have demonstrated to obtain (at least on average), also on highly complex problems.

==== Oganization of the work ====

This project will be organized according to the following main steps:
# At first, a set of robust and efficient data association algorithms (e.g.: JCBB, RJB, RANSAC, Preemptive RANSAC, Davison and Kli Mutual Information Algorith, MLSAC and SwarmSAC), selected from the state of the art, will be implemented and compared, producing a first batch of benchmark results.
# Then, the benchmark data will be analyzed in order to detect the best algorithms and the possible key features to calibrate in order to obtain better performances without sacrificing the results' quality and the robustness.
# A further step (as stated in the previous section) will consists in exploring the possibility to insert techniques inspired by the Particle Swarm Metaheuristic within the selected algorithms (or modifications of those already used, such as for the case of SwarmSAC), due to the high level of parallelism that characterizes this kind of Metaheuristic.
# Eventually, comparisons between all the algorithms implemented in the project will be performed and final conclusions will be drawn.

==== Technical details ====

All the project's algorithms will be written in C and C++ code using:

* OpenCV libraries because of the fact they are becoming the "de facto" standard in the realization of Computer Vision applications and due to the fact they are optimzed to run efficiently on the platforms for which they are available.
* Intel IPP and Intel Math Kernel libraries in order to build applications that could take advantage of high-performance parallel execution especially on multi-core machines.

==== Main references ====

* Hartely R., Zisserman A., ''Multiple View Geometry in Computer Vision, 2nd ed.'', Cambridge University Press, 2004
* Bradki G., Kaehler A., ''Learning OpenCV: Computer Vision with the OpenCV Library, 1st ed.'', O'Reilly Media Inc., 2008
* Engelbrecht A. P., ''Fundamental of Computational Swarm Intelligence, 1st ed.'', Wiley, 2006
* Poli R., Kennedy J., Blackwell T., Freitas A., ''Particle Swarm: The Second Decade'', Hindawi Publishing Corp US SR, 2008
* Eberhart R. C., Shi Y., Kennedy J., ''Swarm Intelligence, 1st ed.'', Morgan Kaufmann, 2001

Robust data association for high-speed SLAM

2009-08-27T20:48:33Z

FilippoRottoli: New page: == '''Part 1: project profile''' == === Project name === Robust data association for high-speed SLAM. === Project short description === The purpose of this project is to approach the p...

== '''Part 1: project profile''' ==

=== Project name ===

Robust data association for high-speed SLAM.

=== Project short description ===

The purpose of this project is to approach the problem of robust data association in the context of Simultaneous Localization And Mapping (SLAM) for mobile robots using digital cameras as input data sources, by finding a method that could allow the SLAM problem to be solved very quickly, possibly even in real-time, thanks also to the use of parallelization strategies.
In particular, a study of the possible applications of parallelization strategies inspired by the Particle Swarm Metaheuristic will be performed.

=== Dates ===
Start date: 2009/07/22

End date: Not already defined.

=== Website(s) ===

None.

=== People involved ===

===== Project head(s) =====

[[User:MatteoMatteucci|Prof. Matteo Matteucci]]

===== Other Politecnico di Milano people =====

[[User:DavideMigliore|Davide Migliore]]

===== Students currently working on the project =====

[[User:FilippoRottoli|Filippo Rottoli]]

===== Students who worked on the project in the past =====

None.

===== External personnel =====

None.

=== Laboratory work and risk analysis ===

The work will consists only of software development, test and analysis, so no risks are associated with the laboratory's activities for this project.

== '''Part 2: project description''' ==

==== Premises ====

A problem is defined as a Simultaneous Localization And Mapping (SLAM) one if it asks to a mobile robot equipped with a sensor to build a map of the environment in which it is placed and, at the same time, to use this map to compute its location.

The strictly coupled data association problem consists of relating sensor's observations with elements in the map by finding the correct matches.

This project has as its final goal to detect a robust data association algorithm for the SLAM problem involving mobile robots using digital cameras as sensors, that could be executed at high speed, possibly even in real-time, thanks also to the use of parallelization strategies.
At this regard, the introduction of techniques inspired by the Partice Swarm Metaheuristic will be considered with great attention, due to both the high potential in the distribution of the execution effort of such techniques, and to the good results that Particle Swarm Optimizers have demonstrated to obtain (at least on average), also on highly complex problems.

==== Oganization of the work ====

This project will be organized according to the following main steps:
# At first, a set of robust and efficient data association algorithms (e.g.: JCBB, RJB, RANSAC, Preemptive RANSAC, Davison and Kli Mutual Information Algorith, MLSAC and SwarmSAC), selected from the state of the art, will be implemented and compared, producing a first batch of benchmark results.
# Then, the benchmark data will be analyzed in order to detect the best algorithms and the possible key features to calibrate in order to obtain better performances without sacrificing the results' quality and the robustness.
# A further step (as stated in the previous section) will consists in exploring the possibility to insert techniques inspired by the Particle Swarm Metaheuristic within the selected algorithms (or modifications of those already used, such as for the case of SwarmSAC), due to the high level of parallelism that characterizes this kind of Metaheuristic.
# Eventually, comparisons between all the algorithms implemented in the project will be performed and final conclusions will be drawn.

==== Technical details ====

All the project's algorithms will be written in C and C++ code using:

* OpenCV libraries because of the fact they are becoming the "de facto" standard in the realization of Computer Vision applications and due to the fact they are optimzed to run efficiently on the platforms for which they are available.
* Intel IPP and Intel Math Kernel libraries in order to build applications that could take advantage of high-performance parallel execution especially on multi-core machines.

==== Main references ====

- Hartely R., Zisserman A., ''Multiple View Geometry in Computer Vision, 2nd ed.'', Cambridge University Press, 2004

- Bradki G., Kaehler A., ''Learning OpenCV: Computer Vision with the OpenCV Library, 1st ed.'', O'Reilly Media Inc., 2008

- Engelbrecht A. P., ''Fundamental of Computational Swarm Intelligence, 1st ed.'', Wiley, 2006

- Poli R., Kennedy J., Blackwell T., Freitas A., ''Particle Swarm: The Second Decade'', Hindawi Publishing Corp US SR, 2008

- Eberhart R. C., Shi Y., Kennedy J., ''Swarm Intelligence, 1st ed.'', Morgan Kaufmann, 2001

Projects

2009-08-27T19:53:05Z

FilippoRottoli: /* Computer Vision and Image Analysis */

''This page is a repository of links to the pages describing the '''projects''' we are currently working on at AIRLab.
See the list of our finished projects on the [[Finished Projects]] page.''

== Ongoing projects ==
''by research area (areas are defined in the [[Main Page]]); for each project a name and a link to its AIRWiki page is given''

=== [[Agents, Multiagent Systems, Agencies]] ===
----
* [[Evolutionary game theory for biology| Evolutionary game theory for biology]]
* [[Game theoretic analysis of electric power| Game theoretic analysis of electric power market]]
* [[Algorithms for computing equilibria| Algorithms for computing equilibria]]
* [[Multiagent cooperation|Multiagent cooperating system]]
* [[Planning in Ambient Intelligence scenarios| Planning in Ambient Intelligence scenarios]]
* [[Strategic robot patrolling| Strategic robot patrolling]]
* [[Real-Time Strategy Games| Real-Time Strategy Games]]

=== [[BioSignal Analysis]] ===
----
===== [[Affective Computing]] =====
* [[Relatioship between Cognition and Emotion in Rehabilitation Robotics]]
* [[Driving companions]]
* [[Emotion from Interaction]]
* [[Wireless Affective Devices]]
* [[Affective Robot force sensor]]
* [[Affective VideoGames]]

===== [[Brain-Computer Interface]] =====
* [[BCI based on Motor Imagery]]
** [[Predictive BCI Speller based on Motor Imagery]] (Master thesis, Tiziano D'Albis)
** [[Feature Selection and Extraction for a BCI based on motor imagery]] (Master thesis, Francesco Amenta)
** [[Ocular Artifacts Filter implementation for a BCI based on motor imagery]] (First Level thesis, Fabio Beltramini)
** [[Online automatic tuning of the number of repetitions in a P300-based BCI]] (First Level thesis, Siegfried Cattaneo)
* [[Graphical user interface for an autonomous wheelchair]] (First Level thesis, Antonio Tripodi and Eleonora Ciceri)
* [[Mu and beta rhythm-based BCI]]
* [[Reproduction of an algorithm for the recognition of error potentials]]

===== [[Automatic Detection Of Sleep Stages]] =====
* [[Sleep Staging with HMM]]

===== [[Analysis of the Olfactory Signal]] =====
* [[Lung Cancer Detection by an Electronic Nose]]
* [[HE-KNOWS - An electronic nose]]

===== [[Classification of EMG signals]] =====

=== [[Computer Vision and Image Analysis]] ===
----
* [[Automated extraction of laser streaks and range profiles]]
* [[Data collection for mutual calibration|Data collection for laser-rangefinder and camera calibration]]
* [[Image retargeting by k-seam removal]]
* [[Particle filter for object tracking]]
* [[Template based paper like reconstruction when the edges are straight]]
* [[Wii Remote headtracking and active projector]]
* [[Vision module for the Milan Robocup Team]]
* [[Long Exposure Images for Resource-constrained video surveillance]]
* [[NonPhotorealistic rendering of speed lines]].
* [[Restoration of blurred objects using cues from the alpha matte]]
* [[Analyzing Traffic Speed From a Single Night Image - Light Streaks Detection]]
* [[Plate detection algorithm]]
* [[A vision-based 3D input device for space curves]]
* [[Correlation-based 3D reconstruction with pan/tilt stereo-camera]]
* [[Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping]]
* [[Image resize by solving a sparse linear system]]
* [[Monocular Simultaneous Localization And Mapping with Moving Object Tracking using Conditional Independent submaps]]
* [[Robust data association for high-speed SLAM]]

=== [[Machine Learning]] ===
----
* [[Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games|Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games]]
* [[B-Smart Behaviour Sequence Modeler and Recognition tool|B-Smart Behaviour Sequence Modeler and Recognition tool]]
* [[Player modeling in TORCS exploiting SVMs and GPUs parallelism|Player modeling in TORCS exploiting SVMs and GPUs parallelism]]
* [[Development an Artificial Intelligence System solving the MS Pac-Man videogame |Development an Artificial Intelligence System solving the MS Pac-Man videogame ]]
* [[Parameters optimization in TORCS exploiting genetic algorithms]]
* [[Neuroevolution in TORCS for evolving interesting and adaptive behaviors]]
* [[Giskar - Distance estimation through single camera features applied to Neural Networks]]

=== [[Evolutionary Computation]] ===
----

* [[Evoptool: Evolutive Optimization Tool]]

=== [[Philosophy of Artificial Intelligence]] ===
----

=== [[Robotics]] ===
----

==== [[Robot development]] ====
* [[Robot fiera]]
* [[LURCH - The autonomous wheelchair]]
* [[Balancing robots: Tilty, TiltOne]]
* [[Robotizing a Golf Cart ]]
* [[ Development of a neck for umanoid robot ]]
* [[Development of robot Maximum One - control and programming ]]
* [[Milan Robocup Team Robot development ]]
* [[Modular Robotic Toolkit ]]
* [[Indoor localization system based on a gyro and visual passive markers]]
* [[Integrazione Tesi De Ambrogi]]

==== [[Benchmarking]] ====
* [[Rawseeds|RAWSEEDS]]

==== [[Bio Robotics]] ====
* [[PoliManus]]
* [[ZOIDBERG - An autonomous bio-inspired RoboFish]]
* [[Styx The 6 Whegs Robot]]
* [[PolyGlove: a body-based haptic interface]]
* [[ULISSE]]
* [[PEKeB: a PiezoElectric KeyBoard]]
* [[Anthropomorphic Robotic Wrist]]
* [[High-level architecture for the control of humanoid robot]]
* [[Zoidberg II, powering robot fish]]
* [[EMG, new test]]
* [[CPG for Warugadar]]

==== [[Robogames]] ====
* [[ROBOWII]]
* [[RobogameDesign]]

=== [[Social Software and Semantic Web]] ===
----

====== Extracting Knowledge From Social Networks ======

* [[Techniques to analyze the Wikipedia Social Network]]

====== Semantic search ======

* [[SeQuEx|SeQuEx: Semantic query expansion]]

== Past projects ==

=== [[BioSignal Analysis]] ===

===== [[Affective Computing]] =====

{{#ask: [[Category:Project]][[prjResTopic::Affective Computing]] [[PrjEnd::<{{CURRENTYEAR}}/{{CURRENTMONTH}}/{{CURRENTDAY}}]]|format=ul}}

===== [[Brain-Computer Interface]] =====
* [[Online P300 and ErrP recognition with BCI2000]]

== April Fool's projects ==

Following the [http://en.wikipedia.org/wiki/April_Fools%27_Day_RFC RFC] tradition,
[[April_1st_Projects|here]] is our April Fool's project page.

== Note for students ==

If you are a student and there isn't a '''page describing your project''', this is because YOU have the task of creating it and populating it with (meaningful) content. If you are a student and there IS a page describing your project, you have the task to complete that page with (useful and comprehensive) information about your own contribution to the project. Be aware that the quality of your work (or lack of it) on the AIRWiki will be evaluated by the Teachers and will influence your grades.

Instructions to add a new project or to add content to an existing project page are available at [[Projects - HOWTO]].

Projects

2009-08-27T19:22:30Z

FilippoRottoli: /* Computer Vision and Image Analysis */

''This page is a repository of links to the pages describing the '''projects''' we are currently working on at AIRLab.
See the list of our finished projects on the [[Finished Projects]] page.''

== Ongoing projects ==
''by research area (areas are defined in the [[Main Page]]); for each project a name and a link to its AIRWiki page is given''

=== [[Agents, Multiagent Systems, Agencies]] ===
----
* [[Evolutionary game theory for biology| Evolutionary game theory for biology]]
* [[Game theoretic analysis of electric power| Game theoretic analysis of electric power market]]
* [[Algorithms for computing equilibria| Algorithms for computing equilibria]]
* [[Multiagent cooperation|Multiagent cooperating system]]
* [[Planning in Ambient Intelligence scenarios| Planning in Ambient Intelligence scenarios]]
* [[Strategic robot patrolling| Strategic robot patrolling]]
* [[Real-Time Strategy Games| Real-Time Strategy Games]]

=== [[BioSignal Analysis]] ===
----
===== [[Affective Computing]] =====
* [[Relatioship between Cognition and Emotion in Rehabilitation Robotics]]
* [[Driving companions]]
* [[Emotion from Interaction]]
* [[Wireless Affective Devices]]
* [[Affective Robot force sensor]]
* [[Affective VideoGames]]

===== [[Brain-Computer Interface]] =====
* [[BCI based on Motor Imagery]]
** [[Predictive BCI Speller based on Motor Imagery]] (Master thesis, Tiziano D'Albis)
** [[Feature Selection and Extraction for a BCI based on motor imagery]] (Master thesis, Francesco Amenta)
** [[Ocular Artifacts Filter implementation for a BCI based on motor imagery]] (First Level thesis, Fabio Beltramini)
** [[Online automatic tuning of the number of repetitions in a P300-based BCI]] (First Level thesis, Siegfried Cattaneo)
* [[Graphical user interface for an autonomous wheelchair]] (First Level thesis, Antonio Tripodi and Eleonora Ciceri)
* [[Mu and beta rhythm-based BCI]]
* [[Reproduction of an algorithm for the recognition of error potentials]]

===== [[Automatic Detection Of Sleep Stages]] =====
* [[Sleep Staging with HMM]]

===== [[Analysis of the Olfactory Signal]] =====
* [[Lung Cancer Detection by an Electronic Nose]]
* [[HE-KNOWS - An electronic nose]]

===== [[Classification of EMG signals]] =====

=== [[Computer Vision and Image Analysis]] ===
----
* [[Automated extraction of laser streaks and range profiles]]
* [[Data collection for mutual calibration|Data collection for laser-rangefinder and camera calibration]]
* [[Image retargeting by k-seam removal]]
* [[Particle filter for object tracking]]
* [[Template based paper like reconstruction when the edges are straight]]
* [[Wii Remote headtracking and active projector]]
* [[Vision module for the Milan Robocup Team]]
* [[Long Exposure Images for Resource-constrained video surveillance]]
* [[NonPhotorealistic rendering of speed lines]].
* [[Restoration of blurred objects using cues from the alpha matte]]
* [[Analyzing Traffic Speed From a Single Night Image - Light Streaks Detection]]
* [[Plate detection algorithm]]
* [[A vision-based 3D input device for space curves]]
* [[Correlation-based 3D reconstruction with pan/tilt stereo-camera]]
* [[Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping]]
* [[Image resize by solving a sparse linear system]]
* [[Monocular Simultaneous Localization And Mapping with Moving Object Tracking using Conditional Independent submaps]]
* [[Robust data association for high-speed (possibly real-time) SLAM]]

=== [[Machine Learning]] ===
----
* [[Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games|Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games]]
* [[B-Smart Behaviour Sequence Modeler and Recognition tool|B-Smart Behaviour Sequence Modeler and Recognition tool]]
* [[Player modeling in TORCS exploiting SVMs and GPUs parallelism|Player modeling in TORCS exploiting SVMs and GPUs parallelism]]
* [[Development an Artificial Intelligence System solving the MS Pac-Man videogame |Development an Artificial Intelligence System solving the MS Pac-Man videogame ]]
* [[Parameters optimization in TORCS exploiting genetic algorithms]]
* [[Neuroevolution in TORCS for evolving interesting and adaptive behaviors]]
* [[Giskar - Distance estimation through single camera features applied to Neural Networks]]

=== [[Evolutionary Computation]] ===
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* [[Evoptool: Evolutive Optimization Tool]]

=== [[Philosophy of Artificial Intelligence]] ===
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=== [[Robotics]] ===
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==== [[Robot development]] ====
* [[Robot fiera]]
* [[LURCH - The autonomous wheelchair]]
* [[Balancing robots: Tilty, TiltOne]]
* [[Robotizing a Golf Cart ]]
* [[ Development of a neck for umanoid robot ]]
* [[Development of robot Maximum One - control and programming ]]
* [[Milan Robocup Team Robot development ]]
* [[Modular Robotic Toolkit ]]
* [[Indoor localization system based on a gyro and visual passive markers]]
* [[Integrazione Tesi De Ambrogi]]

==== [[Benchmarking]] ====
* [[Rawseeds|RAWSEEDS]]

==== [[Bio Robotics]] ====
* [[PoliManus]]
* [[ZOIDBERG - An autonomous bio-inspired RoboFish]]
* [[Styx The 6 Whegs Robot]]
* [[PolyGlove: a body-based haptic interface]]
* [[ULISSE]]
* [[PEKeB: a PiezoElectric KeyBoard]]
* [[Anthropomorphic Robotic Wrist]]
* [[High-level architecture for the control of humanoid robot]]
* [[Zoidberg II, powering robot fish]]
* [[EMG, new test]]
* [[CPG for Warugadar]]

==== [[Robogames]] ====
* [[ROBOWII]]
* [[RobogameDesign]]

=== [[Social Software and Semantic Web]] ===
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====== Extracting Knowledge From Social Networks ======

* [[Techniques to analyze the Wikipedia Social Network]]

====== Semantic search ======

* [[SeQuEx|SeQuEx: Semantic query expansion]]

== Past projects ==

=== [[BioSignal Analysis]] ===

===== [[Affective Computing]] =====

{{#ask: [[Category:Project]][[prjResTopic::Affective Computing]] [[PrjEnd::<{{CURRENTYEAR}}/{{CURRENTMONTH}}/{{CURRENTDAY}}]]|format=ul}}

===== [[Brain-Computer Interface]] =====
* [[Online P300 and ErrP recognition with BCI2000]]

== April Fool's projects ==

Following the [http://en.wikipedia.org/wiki/April_Fools%27_Day_RFC RFC] tradition,
[[April_1st_Projects|here]] is our April Fool's project page.

== Note for students ==

If you are a student and there isn't a '''page describing your project''', this is because YOU have the task of creating it and populating it with (meaningful) content. If you are a student and there IS a page describing your project, you have the task to complete that page with (useful and comprehensive) information about your own contribution to the project. Be aware that the quality of your work (or lack of it) on the AIRWiki will be evaluated by the Teachers and will influence your grades.

Instructions to add a new project or to add content to an existing project page are available at [[Projects - HOWTO]].