Dr. Tiziano Guadagnino

Postdoctoral researcher
Contact:
Email: tiziano.guadagnino@nulligg.uni-bonn.de
Tel: +49 – 228 – 73 – 2904
Fax: +49 – 228 – 73 – 27 12
Office: Nussallee 15, 1. OG, room 1.001
Address:
University of Bonn
Photogrammetry, IGG
Nussallee 15
53115 Bonn

Research Interests

  • Simultaneous localization and mapping
  • Perception for mobile robots in extreme environments
  • 3D Reconstruction

Short CV

Tiziano Guadagnino is a postdoctoral researcher at the Department for Photogrammetry since November 2022. He worked as research and teaching assistant at the Department of Computer, Control, and Management Engineering Antonio Ruberti, Sapienza University of Rome from January 2019 to October 2019. Tiziano defended his Ph.D. thesis entitled “Enhancing Spatio-Temporal Scalability in Graph-based SLAM systems” supervised by Prof. Giorgio Grisetti in January 2023. 

Teaching

  • Modern C++ for Image Processing, 2022

Publications

2024

  • T. Guadagnino, B. Mersch, I. Vizzo, S. Gupta, M. V. R. Malladi, L. Lobefaro, G. Doisy, and C. Stachniss, “Kinematic-ICP: Enhancing LiDAR Odometry with Kinematic Constraints for Wheeled Mobile Robots Moving on Planar Surfaces,” arXiv Preprint, vol. arXiv:2410.10277, 2024.
    [BibTeX] [PDF] [Code] 
    @article{guadagnino2024arxiv,
author = {Guadagnino, T. and Mersch, B. and Vizzo, I. and Gupta, S. and Malladi, M.V.R. and Lobefaro, L. and Doisy, G. and Stachniss, C.},
title = {{Kinematic-ICP: Enhancing LiDAR Odometry with Kinematic Constraints for Wheeled Mobile Robots Moving on Planar Surfaces}},
journal = arxiv,
year = {2024},
volume = {arXiv:2410.10277},
url = {https://arxiv.org/pdf/2410.10277},
codeurl = {https://github.com/PRBonn/kinematic-icp},
}
  • L. Lobefaro, M. V. R. Malladi, T. Guadagnino, and C. Stachniss, “Spatio-Temporal Consistent Mapping of Growing Plants for Agricultural Robots in the Wild,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2024.
    [BibTeX] [PDF] [Code] [Video] 
    @inproceedings{lobefaro2024iros,
author = {L. Lobefaro and M.V.R. Malladi and T. Guadagnino and C. Stachniss},
title = {{Spatio-Temporal Consistent Mapping of Growing Plants for Agricultural Robots in the Wild}},
booktitle = iros,
year = 2024,
codeurl = {https://github.com/PRBonn/spatio-temporal-mapping.git},
videourl = {https://youtu.be/bnWZWd5DHTg},
}
  • M. V. R. Malladi, T. Guadagnino, L. Lobefaro, M. Mattamala, H. Griess, J. Schweier, N. Chebrolu, M. Fallon, J. Behley, and C. Stachniss, “Tree Instance Segmentation and Traits Estimation for Forestry Environments Exploiting LiDAR Data ,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2024.
    [BibTeX] [PDF] [Code] [Video] 
    @inproceedings{malladi2024icra,
author = {M.V.R. Malladi and T. Guadagnino and L. Lobefaro and M. Mattamala and H. Griess and J. Schweier and N. Chebrolu and M. Fallon and J. Behley and C. Stachniss},
title = {{Tree Instance Segmentation and Traits Estimation for Forestry Environments Exploiting LiDAR Data }},
booktitle = icra,
year = 2024,
videourl = {https://youtu.be/14uuCxmfGco},
codeurl = {https://github.com/PRBonn/forest_inventory_pipeline},
}
  • S. Gupta, T. Guadagnino, B. Mersch, I. Vizzo, and C. Stachniss, “Effectively Detecting Loop Closures using Point Cloud Density Maps,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2024.
    [BibTeX] [PDF] [Code] [Video] 
    @inproceedings{gupta2024icra,
author = {S. Gupta and T. Guadagnino and B. Mersch and I. Vizzo and C. Stachniss},
title = {{Effectively Detecting Loop Closures using Point Cloud Density Maps}},
booktitle = icra,
year = 2024,
codeurl = {https://github.com/PRBonn/MapClosures},
videourl = {https://youtu.be/BpwR_aLXrNo},
}
  • Y. Wu, T. Guadagnino, L. Wiesmann, L. Klingbeil, C. Stachniss, and H. Kuhlmann, “LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2024.
    [BibTeX] [PDF] [Code] [Video] 
    @inproceedings{wu2024icra,
author = {Y. Wu and T. Guadagnino and L. Wiesmann and L. Klingbeil and C. Stachniss and H. Kuhlmann},
title = {{LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters}},
booktitle = icra,
year = 2024,
codeurl = {https://github.com/YibinWu/LIO-EKF},
videourl = {https://youtu.be/MoJTqEYl1ME},
}

2023

  • G. Roggiolani, F. Magistri, T. Guadagnino, J. Behley, and C. Stachniss, “Unsupervised Pre-Training for 3D Leaf Instance Segmentation,” IEEE Robotics and Automation Letters (RA-L), vol. 8, pp. 7448-7455, 2023. doi:10.1109/LRA.2023.3320018
    [BibTeX] [PDF] [Code] [Video] 
    @article{roggiolani2023ral,
author = {G. Roggiolani and F. Magistri and T. Guadagnino and J. Behley and C. Stachniss},
title = {{Unsupervised Pre-Training for 3D Leaf Instance Segmentation}},
journal = ral,
year = {2023},
volume = {8},
issue = {11},
codeurl = {https://github.com/PRBonn/Unsupervised-Pre-Training-for-3D-Leaf-Instance-Segmentation},
pages = {7448-7455},
doi = {10.1109/LRA.2023.3320018},
issn = {2377-3766},
videourl = {https://youtu.be/PbYVPPwVeKg},
}
  • I. Vizzo, B. Mersch, L. Nunes, L. Wiesmann, T. Guadagnino, and C. Stachniss, “Toward Reproducible Version-Controlled Perception Platforms: Embracing Simplicity in Autonomous Vehicle Dataset Acquisition,” in Proc. of the Intl. Conf. on Intelligent Transportation Systems Workshops, 2023.
    [BibTeX] [PDF] [Code] 
    @inproceedings{vizzo2023itcsws,
author = {I. Vizzo and B. Mersch and L. Nunes and L. Wiesmann and T. Guadagnino and C. Stachniss},
title = {{Toward Reproducible Version-Controlled Perception Platforms: Embracing Simplicity in Autonomous Vehicle Dataset Acquisition}},
booktitle = {Proc. of the Intl. Conf. on Intelligent Transportation Systems Workshops},
year = 2023,
codeurl = {https://github.com/ipb-car/meta-workspace},
note = {accepted}
}
  • B. Mersch, T. Guadagnino, X. Chen, I. Vizzo, J. Behley, and C. Stachniss, “Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation,” IEEE Robotics and Automation Letters (RA-L), vol. 8, iss. 8, pp. 5180-5187, 2023. doi:10.1109/LRA.2023.3292583
    [BibTeX] [PDF] [Code] [Video] 
    @article{mersch2023ral,
author = {B. Mersch and T. Guadagnino and X. Chen and I. Vizzo and J. Behley and C. Stachniss},
title = {{Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation}},
journal = ral,
volume = {8},
number = {8},
pages = {5180-5187},
year = 2023,
issn = {2377-3766},
doi = {10.1109/LRA.2023.3292583},
videourl = {https://youtu.be/aeXhvkwtDbI},
codeurl = {https://github.com/PRBonn/MapMOS},
}
  • L. Lobefaro, M. V. R. Malladi, O. Vysotska, T. Guadagnino, and C. Stachniss, “Estimating 4D Data Associations Towards Spatial-Temporal Mapping of Growing Plants for Agricultural Robots,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2023.
    [BibTeX] [PDF] [Code] [Video] 
    @inproceedings{lobefaro2023iros,
author = {L. Lobefaro and M.V.R. Malladi and O. Vysotska and T. Guadagnino and C. Stachniss},
title = {{Estimating 4D Data Associations Towards Spatial-Temporal Mapping of Growing Plants for Agricultural Robots}},
booktitle = iros,
year = 2023,
codeurl = {https://github.com/PRBonn/plants_temporal_matcher},
videourl = {https://youtu.be/HpJPIzmXoag}
}
  • L. Wiesmann, T. Guadagnino, I. Vizzo, N. Zimmerman, Y. Pan, H. Kuang, J. Behley, and C. Stachniss, “LocNDF: Neural Distance Field Mapping for Robot Localization,” IEEE Robotics and Automation Letters (RA-L), vol. 8, iss. 8, p. 4999–5006, 2023. doi:10.1109/LRA.2023.3291274
    [BibTeX] [PDF] [Code] [Video] 
    @article{wiesmann2023ral-icra,
author = {L. Wiesmann and T. Guadagnino and I. Vizzo and N. Zimmerman and Y. Pan and H. Kuang and J. Behley and C. Stachniss},
title = {{LocNDF: Neural Distance Field Mapping for Robot Localization}},
journal = ral,
volume = {8},
number = {8},
pages = {4999--5006},
year = 2023,
url = {https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/wiesmann2023ral-icra.pdf},
issn = {2377-3766},
doi = {10.1109/LRA.2023.3291274},
codeurl = {https://github.com/PRBonn/LocNDF},
videourl = {https://youtu.be/-0idH21BpMI},
}
  • H. Kuang, X. Chen, T. Guadagnino, N. Zimmerman, J. Behley, and C. Stachniss, “IR-MCL: Implicit Representation-Based Online Global Localization,” IEEE Robotics and Automation Letters (RA-L), vol. 8, iss. 3, p. 1627–1634, 2023. doi:10.1109/LRA.2023.3239318
    [BibTeX] [PDF] [Code] 
    @article{kuang2023ral,
author = {Kuang, Haofei and Chen, Xieyuanli and Guadagnino, Tiziano and Zimmerman, Nicky and Behley, Jens and Stachniss, Cyrill},
title = {{IR-MCL: Implicit Representation-Based Online Global Localization}},
journal = ral,
volume = {8},
number = {3},
pages = {1627--1634},
doi = {10.1109/LRA.2023.3239318},
year = {2023},
codeurl = {https://github.com/PRBonn/ir-mcl},
}
  • M. Sodano, F. Magistri, T. Guadagnino, J. Behley, and C. Stachniss, “Robust Double-Encoder Network for RGB-D Panoptic Segmentation,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2023.
    [BibTeX] [PDF] [Code] [Video] 
    @inproceedings{sodano2023icra,
author = {Matteo Sodano and Federico Magistri and Tiziano Guadagnino and Jens Behley and Cyrill Stachniss},
title = {{Robust Double-Encoder Network for RGB-D Panoptic Segmentation}},
booktitle = icra,
year = 2023,
codeurl = {https://github.com/PRBonn/PS-res-excite},
videourl = {https://youtu.be/r1pabV3sQYk}
}
  • S. Kelly, A. Riccardi, E. Marks, F. Magistri, T. Guadagnino, M. Chli, and C. Stachniss, “Target-Aware Implicit Mapping for Agricultural Crop Inspection,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2023.
    [BibTeX] [PDF] [Video] 
    @inproceedings{kelly2023icra,
author = {Shane Kelly and Alessandro Riccardi and Elias Marks and Federico Magistri and Tiziano Guadagnino and Margarita Chli and Cyrill Stachniss},
title = {{Target-Aware Implicit Mapping for Agricultural Crop Inspection}},
booktitle = icra,
year = 2023,
videourl = {https://youtu.be/UAIqn0QnpKg}
}
  • A. Riccardi, S. Kelly, E. Marks, F. Magistri, T. Guadagnino, J. Behley, M. Bennewitz, and C. Stachniss, “Fruit Tracking Over Time Using High-Precision Point Clouds,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2023.
    [BibTeX] [PDF] [Video] 
    @inproceedings{riccardi2023icra,
author = {Alessandro Riccardi and Shane Kelly and Elias Marks and Federico Magistri and Tiziano Guadagnino and Jens Behley and Maren Bennewitz and Cyrill Stachniss},
title = {{Fruit Tracking Over Time Using High-Precision Point Clouds}},
booktitle = icra,
year = 2023,
videourl = {https://youtu.be/fBGSd0--PXY}
}
  • G. Roggiolani, M. Sodano, F. Magistri, T. Guadagnino, J. Behley, and C. Stachniss, “Hierarchical Approach for Joint Semantic, Plant Instance, and Leaf Instance Segmentation in the Agricultural Domain,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2023.
    [BibTeX] [PDF] [Code] [Video] 
    @inproceedings{roggiolani2023icra-hajs,
author = {G. Roggiolani and M. Sodano and F. Magistri and T. Guadagnino and J. Behley and C. Stachniss},
title = {{Hierarchical Approach for Joint Semantic, Plant Instance, and Leaf Instance Segmentation in the Agricultural Domain}},
booktitle = icra,
year = {2023},
codeurl = {https://github.com/PRBonn/HAPT},
videourl = {https://youtu.be/miuOJjxlJic}
}
  • G. Roggiolani, F. Magistri, T. Guadagnino, J. Weyler, G. Grisetti, C. Stachniss, and J. Behley, “On Domain-Specific Pre-Training for Effective Semantic Perception in Agricultural Robotics,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2023.
    [BibTeX] [PDF] [Code] [Video] 
    @inproceedings{roggiolani2023icra-odsp,
author = {G. Roggiolani and F. Magistri and T. Guadagnino and J. Weyler and G. Grisetti and C. Stachniss and J. Behley},
title = {{On Domain-Specific Pre-Training for Effective Semantic Perception in Agricultural Robotics}},
booktitle = icra,
year = 2023,
codeurl= {https://github.com/PRBonn/agri-pretraining},
videourl = {https://youtu.be/FDWY_UnfsBs}
}
  • I. Vizzo, T. Guadagnino, B. Mersch, L. Wiesmann, J. Behley, and C. Stachniss, “KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way,” IEEE Robotics and Automation Letters (RA-L), vol. 8, iss. 2, pp. 1-8, 2023. doi:10.1109/LRA.2023.3236571
    [BibTeX] [PDF] [Code] [Video] 
    @article{vizzo2023ral,
author = {Vizzo, Ignacio and Guadagnino, Tiziano and Mersch, Benedikt and Wiesmann, Louis and Behley, Jens and Stachniss, Cyrill},
title = {{KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way}},
journal = ral,
pages = {1-8},
doi = {10.1109/LRA.2023.3236571},
volume = {8},
number = {2},
year = {2023},
codeurl = {https://github.com/PRBonn/kiss-icp},
videourl = {https://youtu.be/h71aGiD-uxU}
}
  • N. Zimmerman, T. Guadagnino, X. Chen, J. Behley, and C. Stachniss, “Long-Term Localization using Semantic Cues in Floor Plan Maps,” IEEE Robotics and Automation Letters (RA-L), vol. 8, iss. 1, pp. 176-183, 2023. doi:10.1109/LRA.2022.3223556
    [BibTeX] [PDF] [Code] 
    @article{zimmerman2023ral,
author = {N. Zimmerman and T. Guadagnino and X. Chen and J. Behley and C. Stachniss},
title = {{Long-Term Localization using Semantic Cues in Floor Plan Maps}},
journal = ral,
year = {2023},
volume = {8},
number = {1},
pages = {176-183},
issn = {2377-3766},
doi = {10.1109/LRA.2022.3223556},
codeurl = {https://github.com/PRBonn/hsmcl}
}

2022

  • L. Di Giammarino, L. Brizi, T. Guadagnino, C. Stachniss, and G. Grisetti, “MD-SLAM: Multi-Cue Direct SLAM,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2022.
    [BibTeX] [PDF] [Code] 
    @inproceedings{digiammarino2022iros,
title={{MD-SLAM: Multi-Cue Direct SLAM}},
author={Di Giammarino, L. and Brizi, L. and Guadagnino, T. and Stachniss, C. and Grisetti, G.},
booktitle = iros,
year = {2022},
codeurl = {https://github.com/digiamm/md_slam},
url = {https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/digiammarino2022iros.pdf},
}
  • N. Zimmerman, L. Wiesmann, T. Guadagnino, T. Läbe, J. Behley, and C. Stachniss, “Robust Onboard Localization in Changing Environments Exploiting Text Spotting,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2022.
    [BibTeX] [PDF] [Code] 
    @inproceedings{zimmerman2022iros,
title = {{Robust Onboard Localization in Changing Environments Exploiting Text Spotting}},
author = {N. Zimmerman and L. Wiesmann and T. Guadagnino and T. Läbe and J. Behley and C. Stachniss},
booktitle = iros,
year = {2022},
codeurl = {https://github.com/PRBonn/tmcl},
}
  • T. Guadagnino, X. Chen, M. Sodano, J. Behley, G. Grisetti, and C. Stachniss, “Fast Sparse LiDAR Odometry Using Self-Supervised Feature Selection on Intensity Images,” IEEE Robotics and Automation Letters (RA-L), vol. 7, iss. 3, pp. 7597-7604, 2022. doi:10.1109/LRA.2022.3184454
    [BibTeX] [PDF] 
    @article{guadagnino2022ral,
author = {T. Guadagnino and X. Chen and M. Sodano and J. Behley and G. Grisetti and C. Stachniss},
title = {{Fast Sparse LiDAR Odometry Using Self-Supervised Feature Selection on Intensity Images}},
journal = ral,
year = 2022,
volume = {7},
number = {3},
pages = {7597-7604},
url = {https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/guadagnino2022ral-iros.pdf},
issn = {2377-3766},
doi = {10.1109/LRA.2022.3184454}
}
  • L. Wiesmann, T. Guadagnino, I. Vizzo, G. Grisetti, J. Behley, and C. Stachniss, “DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments,” IEEE Robotics and Automation Letters (RA-L), vol. 7, iss. 3, pp. 6327-6334, 2022. doi:10.1109/LRA.2022.3171068
    [BibTeX] [PDF] [Code] [Video] 
    @article{wiesmann2022ral-iros,
author = {L. Wiesmann and T. Guadagnino and I. Vizzo and G. Grisetti and J. Behley and C. Stachniss},
title = {{DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments}},
journal = ral,
year = 2022,
volume = 7,
number = 3,
pages = {6327-6334},
issn = {2377-3766},
doi = {10.1109/LRA.2022.3171068},
codeurl = {https://github.com/PRBonn/DCPCR},
videourl = {https://youtu.be/RqLr2RTGy1s},
}
  • I. Vizzo, T. Guadagnino, J. Behley, and C. Stachniss, “VDBFusion: Flexible and Efficient TSDF Integration of Range Sensor Data,” Sensors, vol. 22, iss. 3, 2022. doi:10.3390/s22031296
    [BibTeX] [PDF] [Code] 
    @article{vizzo2022sensors,
author = {Vizzo, I. and Guadagnino, T. and Behley, J. and Stachniss, C.},
title = {VDBFusion: Flexible and Efficient TSDF Integration of Range Sensor Data},
journal = {Sensors},
volume = {22},
year = {2022},
number = {3},
article-number = {1296},
url = {https://www.mdpi.com/1424-8220/22/3/1296},
issn = {1424-8220},
doi = {10.3390/s22031296},
codeurl = {https://github.com/PRBonn/vdbfusion},
}