Education

Nov. 2017 | Oct. 2020 (expected)

Ph.D. Student in Engineering in Computer Science at Sapienza University of Rome - Department of Computer, Control, and Mangagement Engineering "Antonio Ruberti". I am a member of the Ro.Co.Co. Lab. and my supervisor is Prof. Giorgio Grisetti. My main research topics are Mobile Robotics, Simultaneous Localization and Mapping (SLAM) and Graph Optimization .

Sep. 2019 | Feb. 2020

Visiting Ph.D. Student at Rheinische Friedrich-Wilhelms-Universität Bonn - Photogrammetry and Robotics Lab. Focus on 3D-Lidar SLAM, 3D-Lidar and camera extrinsic calibration [code].

Sep. 2014 | Nov. 2017

M.Sc. in Artificial Intelligence and Robotics at Sapienza University of Rome (First Class with Honors, courses held in English). My thesis was focused on Pose-Graph Optimization [pdf] and supervised by Prof. Giorgio Grisetti.
Core courses that I attended to: Least-Squares SLAM (3 ECTS), Vision and Perception (6 ECTS), Artificial Intelligence (12 ECTS), Mobile Robotics (6 ECTS), Robotics (12 ECTS), Interactive Graphics (6 ECTS).

Sep. 2010 | Sep. 2014

B.Sc. in Electronic Engineering at Sapienza University of Rome (courses held in Italian). My thesis addressed the stability of humanoids subject to external forces and it was supervised by Prof. Giuseppe Oriolo.

To get a more complete overview, my resume is available [here] - last update is June 2020.

Research

My research concerns the problem of Simultaneous Localization and Mapping. I am investigating different aspects of this topic, focusing on Global Optimization and Pose-Graph Optimization, Point-Cloud Registration and Sensor Calibration. My main publications are listed below.

  • Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use , M. Colosi, I. Aloise, T. Guadagnino, D. Schlegel, B. Della Corte and G. Grisetti . IEEE IROS, 2020 (to appear in conference proceedings). [code] [pdf]
  • Least Squares Optimization: From Theory to Practice , G. Grisetti, T. Guadagnino, I. Aloise, M. Colosi, B. Della Corte and D. Schlegel. MDPI: Robotics, 2020. [DOI] [code] [pdf]
  • Chordal Based Error Function for 3D Pose-Graph Optimization, I. Aloise and G. Grisetti. IEEE Robotics and Automation Letters (RAL), 2019. [DOI] [code] [pdf] [supplementary]
  • Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization, I. Aloise, B. Della Corte, F. Nardi and G. Grisetti. IEEE Robotics and Automation Letters (RAL), 2019. [DOI] [code] [pdf] [supplementary]
If you want to get more insights on my research, check-out the following pages.
ORCID [ ORCID iD iconhttps://orcid.org/0000-0002-6382-4168 ] | Google Scholar [link] | ResearchGate [link]

Teaching

  • Teaching Assistant of "Sistemi Operativi" [Operating Systems] - 2019/20 [link]
  • Teaching Assistant of "Sistemi Operativi" [Operating Systems] - 2018/19 [link]
  • Teaching Assistant of "Sistemi Operativi" [Operating Systems] - 2017/18 [link]

Contact Me

Department of Computer, Control, and Management Engineering (DIAG) “Antonio Ruberti”
Via Ariosto 25, 00185, Roma (RM) - Room B121