I am currently a research fellow at University of Oxford (UK), under supervision of Prof. Niki Trigoni, working on the ESPRC Programme Grant “Mobile Robotics: Enabling a Pervasive Technology of the Future”.

I was a research fellow at Politecnico di Torino (Italy), working in collaboration with Telecom Italia S.P.A.

I achieved my MS degree in Computer Engineering from Politecnico di Torino in 2008. From 2019 to 2011 I was a research assitant in Politecnico di Torino, and from 2011 to 2014 I was a PhD student in Robotics at Istituto Italiano di Tecnologia (IIT) and Politecnico di Torino, working on both space robotics and service robotics.

My research interests include localization and mapping for mobile robotics, computer vision applied to robot navigation, and human-robot interaction. I also have an interest on vision-based assistive technologies.

I am a GNU/Linux user, open source supporter, Ubuntu backport tester, ex demo coder.

Current projects

Learning intuitive physics

The ability to interact and understand the environment is fundamental in a wide range of applications from robotics to augmented reality. In particular, predicting how deformable objects will react to applied forces in real time is a significant challenge. Another challenge is learning to estimate the simple dynamics of moving and interacting objects through observations. My research tries to bring common sense understanding to robotic perception, with a focus on low-cost vision sensors and interaction with humans. Learning to predict intuitive physics, such as how objects move and interact with each other, will enable robots to interact with a dynamic, unconstrained environment.

Publications: [1] [2]

Human-Robot Cooperation and Semantic Understanding for Long-term Localization and Mapping

I am working on using human experiences, such as complex activities detected using visual-inertial information, to improve semantic understanding of the environment for mobile assistive robots, and using robots to help user's localization by sharing location information. Another area of interest is using higher level understanding of the enviroment (semantics) in deep reinformcement learning approaches for improving robot and user navigation.

Publications: [1] [2]

Past projects

Object Pose Estimation for Robotic Grasping

Detection and pose estimation of 3D objects is of great importance in robotics applications for many high level tasks such as manipulation, grasping, human-robot interaction and also localization and mapping. We are interested in segmenting objects with large variety in appearance, from lack of texture to strong textures, for the task of robotic grasping, using affordable RGB-D sensors.

Publications: [1] [2] [3] [4]
Code (OpenCV/CUDA): https://github.com/morpheus1820/graph-canny-segm
https://github.com/morpheus1820/Q-PSO
https://github.com/morpheus1820/Q-PSO_CPU

Fly4SmartCity: a Cloud Robotics Service for Smart City Applications

The emerging cloud robotics paradigm considers robots as simple agents connected to a remote network infrastructure; this networked approach allows them to benefit from off-board powerful computational and storage resources, to easily access data and to build a common knowledge. We propose a possible implementation of a cloud-robotics service in a smart city scenario. This project shows how the integration of ROS-based cloud robotics platform, small unmanned vehicles, high-bandwidth/low-latency mobile networks and open data publicly available on the internet makes the design of a real-world UAV-based emergency management service possible.

Publications: [1]
Press: Wired, La Stampa
Code (ROS): https://github.com/fly4smartcity

Autonomous Robots for Data Center Hotspot Detection

In this project, in collaboration with Telecom Italia Lab, we developed a Cloud Robotics service application for the detection of hotspots in a data center using mobile robots carrying thermal sensors and thermal cameras. The robots are able to create a map of the environment and to autonomously navigate, while executing user-defined missions. We developed a laser-based package for graph-based SLAM algorithm.

Publications: [1], [2], [3]
Code (ROS nodes): https://github.com/rrg-polito/rrg-polito-ros-pkg
Code (LAGO Optimizer): https://github.com/rrg-polito/lago

Visual Navigation for Mobile Robots

This project, in collaboration with Telecom Italia Lab, aims at the study of Cloud Robotics for service applications, with a focus on vision-based semantic localization and mapping for mobile platforms in domestic environments. We are currently working on semantic localization based on object detection only.

Website: http://jol.telecomitalia.com/jolcrab

People and Object Tracking, Vision-based Body Mass Estimation

A prerequisite for human–robot interaction is the capability of successfully tracking humans and objects in the environment. We proposed a system for real-time visual object tracking in 2D images for mobile robotic systems. The proposed algorithm is able to specialize to individual objects and to adapt to substantial changes in illumination and object appearance during tracking. The algorithm is composed by two main blocks: a detector based on Histogram of Oriented Gradient (HOG) descriptors and linear Support Vector Machines (SVM), and a tracker which is implemented by an adaptive Rao-Blackwellised particle filter (RBPF). The SVM is re–trained online on new samples taken from previous predicted positions.

Another work involved a system for weighting astronauts in space, using RBG-D cameras. The body is reconstructed using 3D non-rigid registration techniques, then anthropometric measures are extracted and matched on a medical database, in order to retreve an estimate of the body mass.

Publications: [1]
Press: New Scientist, TomsHW.it
Code: https://github.com/morpheus1820/adaptive-hog-tracker

MacP4Log

The three-years (2008-2010) project “MACP4Log - Mobile, autonomous and cooperating robotic platforms for supervision and monitoring of large logistic surfaces” was aimed at the study and development of a prototype of a mobile robotic platform, with on-board vision systems and sensors, integrating a flexible wireless communication solution, able to move autonomously in large logistic spaces, and to communicate with a supervisor and other similar platforms to achieve a coordinated action to carry out specific tasks. The project was coordinated by the Robotics Research Group from Politecnico di Torino; the research activity was carried on in collaboration with ERXA s.r.l. and the Istituto Superiore “Mario Boella” (ISMB).

Publications: [1] [2] [3]
Website: http://areeweb.polito.it/ricerca/MacP4Log/

Publications

2018

  • Wang Z.*, Rosa S.*, Markham A., Learning the Intuitive Physics of Non-Rigid Object Deformations, NeurIPS Workshop: Modeling the Physical World: Perception, Learning, and Control, Montreal, 2018
  • Yang B., Rosa S., Markham A., Trigoni N., Wen H., 3D Object Dense Reconstruction from a Single Depth View, Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2018, DOI: 10.1109/TPAMI.2018.2868195
  • Rosa S., Patane' A., Lu X., Trigoni N., Semantic Place Understanding for Human-Robot Coexistence - Towards Intelligent Workplaces, accepted, Transactions on Human-Machine Systems (THMS), 2018, DOI: 10.1109/THMS.2018.2875079
  • Wang Z.*, Rosa S.*, Wei B., Wang S., Markham A., Trigoni N., 3D-PhysNet: Learning the Intuitive Physics of Non-Rigid Object Deformations, IJCAI 2018 [website]
  • Rosa S.*, Wang Z.*, Wei B., Xie L.,Wang S., Markham A., Trigoni N., Defo-Net: Learning Body Deformation using Generative Adversarial Networks, ICRA 2018 [website]
  • Xie L.,Wang S.,Rosa S., Markham A., Trigoni N., Learning with Training Wheels: Speeding up Training with a Simple Controller for Deep Reinforcement Learning, ICRA 2018
  • Rosa S., Patane' A., Lu X., Trigoni N., CommonSense: Collaborative learning of scene semantics by robots and humans, IoPARTS workshop, MOBISYS 2018
  • 2017

  • Lu X., Kan X., Rosa S., Wen H., Markham A., Trigoni N., Towards Self-supervised Face Labeling via Cross-modality Association, poster, SenSys 2017, The Netherlands
  • Rosa S., Lu X., Wen H., Trigoni N., Leveraging User Activities and Mobile Robots for Semantic Mapping and User Localization., HRI 2017 late break reports
  • Rosa S., Toscana G., Bona B. Q-PSO: Fast Quaternion-based Pose Estimation From RGB-D Images, Journal of Intelligent and Robotic Systems, 2017, DOI: 10.1007/s10846-017-0714-3
  • Anjum M.L., Rosa S., Bona B. Tracking a subset of skeleton joints - An effective approach towards complex human activity recognition, Journal of Robotics, vol. 2017, doi:10.1155/2017/7610417
  • 2016

  • Rosa S., Toscana G. Fast Feature-Less Quaternion-based Particle Swarm Optimization for Rigid and Articulated Pose Estimation From RGB-D Images, poster, ECCV 2016, Amsterdam, NL
  • Toscana G., Rosa S., Fast Feature-Less Quaternion-based Particle Swarm Optimization for Object Pose Estimation From RGB-D Images, BMVC 2016, York, UK GPU: CPU:
  • Toscana G., Rosa S., Bona B., Fast Graph-Based Object Segmentation for RGB-D Images, Intellisys 2016, London, UK
  • Toscana G., Rosa S., Bona B., Vocal Interaction with a 7-DOF Robotic Arm for Object Detection, Learning and Grasping, HRI 2016 Late break reports
  • Russo L.O., Rosa S., Maggiora M., Bona B. A Novel Cloud Based Service Robotics Application to Data Center Environmental Monitoring, Sensors, 2016, DOI: 10.3390/s16081255
  • Ermacora G., Rosa S., Toma A. Fly4SmartCity: a Cloud Robotics Service for Smart City Applications, Journal of Ambient Intelligence and Smart Environments, 2016, DOI: 10.3233/AIS-160374
  • 2015

  • Rosa S., Russo L.O., Toscana G., Primatesta S., Kaouk Ng M., Bona B., Leveraging the Cloud for Connected Service Robotics Applications, Workshop on Robotics and Technology Transfer, ETFA 2015, Luxemburg, LU
  • B. de Gusmao P.B., Rosa S., Magli E., Lepsøy S., Francini L., Robotics Navigation Using MPEG CDVS, 17th International Workshop on Multimedia Signal Processing, MMSP 2015, Xiamen, China
  • Lupetti M.L., Rosa S., Ermacora G., From a Robotic Vacuum Cleaner to Robot Companion: Acceptance and Engagement in Domestic Environments., HRI 2015 late break reports
  • 2014

  • Russo L.O., Farulla G., Pianu D., Salgarella A., Controzzi M., Cipriani C., Oddo C., Geraci C., Rosa S., Indaco M.A remote communication system for deafblind persons by means of gesture recognition, International Journal of Advanced Robotic Systems, 2014
  • Bona B., Carlone L., Indri M., Rosa S., Supervision and monitoring of logistic spaces by a cooperative robotic team: methodologies, problems, and solutions, Intelligent Service Robotics, 2014, DOI: 10.1007/s11370-014-0151-0
  • Rosa S., Russo L.O., Bona B., Towards A ROS-Based Autonomous Cloud Robotics Platform for Data Center Monitoring. the 19th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Barcelona, Spain, 2014
  • G. Ermacora, A. Toma, S. Rosa, B. Bona, M. Chiaberge, M. Silvagni, M. Gaspardone, R. Antonini, A cloud based service for management and planning of autonomous UAV missions in smartcity scenarios, MESAS 2014, Rome, IT
  • Airo' Farulla G., Russo L.O., Pintor C., Pianu D., Micotti G., Salgarella A.R., Camboni D., Controzzi M., Cipriani C., Calogero M.O., Rosa S., Indaco M., Real-time single camera hand gesture recognition system for remote deaf-blind communication 1st International Conference on Augmented and Virtual Reality - Salento AVR 2014, Lecce, 17-20 September 2014
  • Ahmad O., Yin J., Bona B., Rosa S., Anjum M.L., Skeleton Tracking Based Complex Human Activity Recognition Using Kinect Camera, ICSR 2014, Syndey, AU
  • Ermacora G., Toma A., Rosa S., Antonini R., Leveraging open data for supporting a cloud robotics service in a smart city environment. at IAS-13, July 15 - 19, 2014, Padova, Italy
  • Rosa S., Russo L.O., Airò Farulla G., Antonini R., Gaspardone M., Carlone L., Bona B., An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring. at IAS-13, July 15 - 19, 2014, Padova, Italy
  • Yuan Z., Rosa S., Russo L.O., Bona B., A Kinect-based Front-end for Graph-SLAM Using Plane Matching in Planar Indoor Environments. at IAS-13, July 15 - 19, 2014, Padova, Italy
  • Yin J., Carlone L., Rosa S., Anjum M.L., Bona B., Scan Matching for Graph SLAM in Indoor Dynamic Scenarios.27th International FLAIRS Conference, May 21 - 23, 2014, Pensacola Beach, Florida, USA
  • Russo L.O., Rosa S., Matteucci M., Bona B., A ROS Implementation of the Mono-SLAM Algorithm. In: International Conference on Artificial Intelligence & Applications (ARIA-2014), 2014
  • 2013

  • Abrate F., Bona B., Indri M., Rosa S., Tibaldi F., Multi-robot map updating in dynamic environments, in Springer Tracts in Advanced Robotics, Volume 83, 2013, DOI: 10.1007/978-3-642-32723-0
  • Russo L.O., Airò farulla G., Indaco M., Rosa S., Rolfo D., Bona B., Blurring prediction in Monocular SLAM, In: 8th IEEE International Design & Test Symposium 2013 (IDT), 2013
  • 2012

  • Abrate F., Bona B., Indri M., Rosa S., Tibaldi F., Multirobot Localization in Highly Symmetric Environments, Journal of Intelligent and Robotic Systems, 2012, DOI: 10.1007/s10846-012-9790-6
  • L. Carlone, J. Yin, S. Rosa, Z. Yuan, Graph optimization with unstructured covariance: fast, accurate, linear approximation. In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2012), 2012.
  • Rosa S., Paleari M., Ariano P., Bona B., Object Tracking with Adaptive HOG Detector and Adaptive Rao-Blackwellised Particle Filter. In: SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 2012.
  • 2011

  • Paleari M., Margaria V., Rosa S., Ariano P., HExEC: hand exoskeleton electromyographic control, 4th International Workshop on Human-Friendly Robotics (HFR 2011) November 8th-9th, 2011, University of Twente, The Netherlands
  • 2010

  • Macchia V.; Rosa S; Carlone L; Bona B., An Application of Omnidirectional Vision to Grid-based SLAM in Indoor Environments. In: Workshop on Omnidirectional Robot Vision, International Conference on Robotics and Automation (ICRA 2010), 2010.
  • Abrate F; Bona B; Indri M; Rosa S.; Tibaldi F., Map updating in dynamic environments. In: ISR/ROBOTIK 2010, 2010.
  • 2009

  • Brevi D., Fileppo F. , Scopigno R. , Abrate F., Bona B., Rosa S., Tibaldi F., Hybrid localization solutions for robotic logistic applications. In: Technologies for Practical Robot Applications (TePRA), 2009.
  • Abrate F; Bona B.; Indri M; Rosa S; Tibaldi F., Three-State Multirobot Collaborative Localization in Symmetrical Environments. In: ROBOTICA 2009, 2009
  • 2008

  • Abrate F; Bona B; Indri M.; Rosa S; Tibaldi F., Switching Multirobot Collaborative Localization in Symmetrical Environments. In: IROS 2008 2nd Workshop on Planning, Perception and Navigation for Intelligent Vehicles, 2008.
  • About Me

    CV

    Download my Curriculum Vitae

    Contact

    Stefano Rosa
    Department of Computer Science
    University of Oxford
    Robert Hooke Building, Parks Rd,
    Oxford OX1 3QD
    Email: stefano *dot* rosa *at* cs *dot* ox *dot* ac *dot* uk