Dr. Daniele Cattaneo

	Junior Research Group Leader
	Postal address:	Albert-Ludwigs-Universität Freiburg Technische Fakultät Robot Learning Lab Georges-Köhler-Allee 080 D-79110 Freiburg i. Br., Germany
	Office:	080-01-010
	Email:	cattaneo@cs.uni-freiburg.de
	Phone:	+49 761 203-8158

About me

• 08/2023 - current: Junior Research Group Leader, University of Freiburg
• 01/2020 - 07/2023: Senior Researcher in the Robotic Learning Lab, University of Freiburg
• 11/2016 - 02/2020: Ph.D. in Computer Science, Università degli Studi di Milano-Bicocca, Italy
• 06/2019 - 09/2019: Ph.D. Visiting Period, INVETT Research group, University of Alcalá, Spain
• 09/2018 - 04/2019: Ph.D. Visiting Period, AIS group, University of Freiburg, Germany
• 11/2013 - 03/2016: M.Sc. in Computer Science, Università degli Studi di Milano-Bicocca, Italy
• 10/2010 - 10/2013: B.Sc. in Computer Science, Università degli Studi di Milano-Bicocca, Italy

Research Interests

• Embodiment- and environment-agnostic perception and localization for autonomous robots
• Deep learning for vision-based and LiDAR-based localization
• Sensor fusion and cross sensor matching

Current Funded Research Projects

• Robust visual SLAM system for unstructured environments
• Next generation of AI algorithms for automated driving (AI-Drive)
• Intelligent Scene Understanding of Operating Room Video Streams (iSUOR)
• Autonomous Robust Outdoor Robots (A-ROR)

Past Funded Research Projects

• Sensor Systems for Localization of Trapped Victims in Collapsed Infrastructure (SORTIE)

Supervised Students

• Modality-agnostic localization in LiDAR maps, Pranav Kolar Bhaskarpantula (ongoing)
• Estimation, Accumulation and Updating of Vectorized HD Maps, Noah Lenagan (co-supervised, ongoing)
• Unsupersvised multi-target domain adaptation for LiDAR panoptic segmentation, Peter Würth (co-supervised, ongoing)
• Transductive Inference for Semantic Segmentation, Jong Hyun Ham (co-supervised)
• Localization-preserving LiDAR maps compression, Akshay Mirylkar
• Cross-modal localization in LiDAR maps, Abhijeet Nayak
• Unsupervised LiDAR moving object detection, Venkat Subramanyam (co-supervised)
• Panoptic SLAM and loop closure detection, José Arce y de la Borbolla (co-supervised)
• Action segmentation and recognition for clinical patients from multi-view cameras, Jing Lu
• Unsupervised domain adaptation for LiDAR panoptic segmentation, Borna Bešić (co-supervised)
• Disjoint Multi Resolution Sampling for Continuous-time SLAM, Sai Sourabh Tiruvaipati
• Multi-Hypothesis CNN for camera localization in LiDAR maps, Yigit Yukselen

Publications

Google scholar profile

2024

• Rohit Mohan, Daniele Cattaneo, Florian Drews, Abhinav Valada,
  Progressive Multi-Modal Fusion for Robust 3D Object Detection
  8th Annual Conference on Robot Learning (CoRL), 2024.
  Download BibTeX

  @inproceedings{mohan2024progressive,
      title={Progressive Multi-Modal Fusion for Robust 3D Object Detection},
      author={Rohit Mohan and Daniele Cattaneo and Abhinav Valada and Florian Drews},
      booktitle={8th Annual Conference on Robot Learning},
      year={2024}
  }
      

• Julia Hindel, Daniele Cattaneo, Abhinav Valada,
  Taxonomy-Aware Continual Semantic Segmentation in Hyperbolic Spaces for Open-World Perception
  arXiv preprint arXiv:2407.18145, 2024.
  Download Website BibTeX

  @article{hindel2024taxonomy,
    title={Taxonomy-Aware Continual Semantic Segmentation in Hyperbolic Spaces for Open-World Perception},
    author={Hindel, Julia and Cattaneo, Daniele and Valada, Abhinav},
    journal={arXiv preprint arXiv:2407.18145},
    year={2024}
  }
      

• Kürsat Petek, Niclas Vödisch, Johannes Meyer, Daniele Cattaneo, Abhinav Valada, Wolfram Burgard,
  Automatic Target-Less Camera-LiDAR Calibration from Motion and Deep Point Correspondences
  IEEE Robotics and Automation Letters (RA-L), 2024.
  Download Video Website BibTeX

  @article{petek2024mdpcalib,
    title={Automatic Target-Less Camera-LiDAR Calibration from Motion and Deep Point Correspondences},
    author={Petek, Kürsat and Vödisch, Niclas and Meyer, Johannes and Cattaneo, Daniele and Valada, Abhinav and Burgard, Wolfram},
    journal={IEEE Robotics and Automation Letters},
    year={2024}
  }
      

• Daniele Cattaneo, Abhinav Valada,
  CMRNext: Camera to LiDAR Matching in the Wild for Localization and Extrinsic Calibration
  arXiv preprint arXiv:2402.00129, 2024.
  Download BibTeX

  @article{cattaneo2024cmrnext,
        title={CMRNext: Camera to LiDAR Matching in the Wild for Localization and Extrinsic Calibration}, 
        author={Daniele Cattaneo and Abhinav Valada},
        year={2024},
        eprint={2402.00129},
        archivePrefix={arXiv},
        primaryClass={cs.CV}
  }
      

• Abhijeet Nayak, Daniele Cattaneo, Abhinav Valada,
  RaLF: Flow-based Global and Metric Radar Localization in LiDAR Maps
  IEEE International Conference on Robotics and Automation (ICRA), 2024.
  Download Video Website BibTeX

  @inproceeding{nayak2023ralf,
        title={RaLF: Flow-based Global and Metric Radar Localization in LiDAR Maps},
        author={Nayak, Abhijeet and Cattaneo, Daniele and Valada, Abhinav},
        booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, 
        pages={5097-5103},
        year={2024}
  }
      

• Rohit Mohan, José Arce, Sassan Mokhtar, Daniele Cattaneo, Abhinav Valada,
  Syn-Mediverse: A Multimodal Synthetic Dataset for Intelligent Scene Understanding of Healthcare Facilities
  IEEE Robotics and Automation Letters, 2024.
  Download Video Website BibTeX

  @article{mohan24mediverse,
        title={Syn-Mediverse: A Multimodal Synthetic Dataset for Intelligent Scene Understanding of Healthcare Facilities},
        author={Mohan, Rohit and Arce, José and Mokhtar, Sassan and Cattaneo, Daniele and Valada, Abhinav},
        journal={IEEE Robotics and Automation Letters},
        year={2024}
  }
      

• Augusto Luis Ballardini, Daniele Cattaneo, Rubén Izquierdo, Ignacio Parra, Andrea Piazzoni, Miguel Ángel Sotelo, Domenico Giorgio Sorrenti,
  An ego-lane estimation method with sensor failure modelling
  IEEE Access, 2024.
  Download BibTeX

  @article{ballardini2024,
      author={Ballardini, Augusto Luis and Cattaneo, Daniele and Izquierdo, Rubén and Parra, Ignacio and Piazzoni, Andrea and Sotelo, Miguel Ángel and Sorrenti, Domenico Giorgio},
      journal={IEEE Access}, 
      title={An Ego-Lane Estimation Method With Sensor Failure Modeling}, 
      year={2024},
      volume={12},
      pages={34539-34552},
  }
      

2023

• Niclas Vödisch, Daniele Cattaneo, Wolfram Burgard, Abhinav Valada
  CoVIO: Online Continual Learning for Visual-Inertial Odometry
  IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2023.
  Paper (arXiv)   Project page   BibTeX

  @article{voedisch23covio,
    title={CoVIO: Online Continual Learning for Visual-Inertial Odometry},
    author={Vödisch, Niclas and Cattaneo, Daniele and Burgard, Wolfram and Valada, Abhinav},
    journal={IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},
    year={2023}
  }
  

• José Arce, Niclas Vödisch, Daniele Cattaneo, Wolfram Burgard, Abhinav Valada
  PADLoC: LiDAR-Based Deep Loop Closure Detection and Registration using Panoptic Attention
  IEEE Robotics and Automation Letters (RA-L), 2023.
  Paper (IEEE)   Paper (arXiv)   Project page   BibTeX

  @article{arce2023padloc,
    author={José Arce, V{\"o}disch, Niclas and Cattaneo, Daniele and Burgard, Wolfram and Valada, Abhinav},
    title={PADLoC: LiDAR-Based Deep Loop Closure Detection and Registration using Panoptic Attention},
    journal={IEEE Robotics and Automation Letters},
    volume={8},
    number={3},
    pages={1319-1326},
    year={2023},
    doi={10.1109/LRA.2023.3239312}
  }
  

2022

• Niclas Vödisch, Daniele Cattaneo, Wolfram Burgard, Abhinav Valada
  Continual SLAM: Beyond Lifelong Simultaneous Localization and Mapping through Continual Learning
  Proceedings of the International Symposium on Robotics Research (ISRR), 2022
  Paper (arXiv)   Video   Project page   BibTeX

  @INPROCEEDINGS{voedisch2022continual,
    title={Continual SLAM: Beyond Lifelong Simultaneous Localization and Mapping through Continual Learning},
    author={V{\"o}disch, Niclas and Cattaneo, Daniele and Burgard, Wolfram and Valada, Abhinav},
    booktitle={Proceedings of the International Symposium on Robotics Research (ISRR)},
    year={2022}
  }
  

• Borna Besic*, Nikhil Gosala*, Daniele Cattaneo, Abhinav Valada
  Unsupervised Domain Adaptation for LiDAR Panoptic Segmentation
  IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 2, pp. 3404-3411, 2022.
  Paper (IEEE)   Paper (arXiv)   Video   Project page   BibTeX

  @article{besic2022uda,  
  author={Bešić, Borna and Gosala, Nikhil and Cattaneo, Daniele and Valada, Abhinav},  
  journal={IEEE Robotics and Automation Letters},   
  title={Unsupervised Domain Adaptation for {LiDAR} Panoptic Segmentation},   
  year={2022},  
  volume={7},  
  number={2},  
  pages={3404-3411},  
  doi={10.1109/LRA.2022.3147326}}
  

• Daniele Cattaneo, Matteo Vaghi, Abhinav Valada,
  LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM
  IEEE Transactions on Robotics (T-RO), 2022.
  Paper (IEEE)   Paper (arXiv) Video Demo BibTeX

  @article{cattaneo2022lcdnet,
    title={{LCDNet}: Deep Loop Closure Detection and Point Cloud Registration for {LiDAR SLAM}},
    author={Cattaneo, Daniele and Vaghi, Matteo and Valada, Abhinav},
    journal={IEEE Transactions on Robotics}, 
    year={2022},
    volume={38},
    number={4},
    pages={2074-2093},
    doi={10.1109/TRO.2022.3150683}
  }
      

2021

• Augusto Luis Ballardini, Simone Fontana, Daniele Cattaneo, Matteo Matteucci, Domenico Giorgio Sorrenti
  Vehicle Localization Using 3D Building Models and Point Cloud Matching
  Sensors, 21(16), 5356., 2021.
  Download 10.3390/s21165356 BibTeX

  @article{ballardini2021sensors,
  title={Vehicle Localization Using 3D Building Models and Point Cloud Matching},
  author={Ballardini, Augusto Luis and Fontana, Simone and Cattaneo, Daniele and Matteucci, Matteo and Sorrenti, Domenico Giorgio},
   journal = {Sensors},
   volume = {21},
   year = {2021},
   number = {16},
   article-number = {5356},
   issn = {1424-8220},
   doi = {10.3390/s21165356}
  }
  

• Simone Fontana, Daniele Cattaneo, Augusto L. Ballardini, Matteo Vaghi, Domenico Giorgio Sorrenti
  A benchmark for point clouds registration algorithms
  Robotics and Autonomous Systems, 2021.
  Paper (sciencedirect)   Paper (arXiv)   BibTeX

  @article{FONTANA2021,
  title = {A benchmark for point clouds registration algorithms},
  journal = {Robotics and Autonomous Systems},
  volume = {140},
  pages = {103734},
  year = {2021},
  doi = {https://doi.org/10.1016/j.robot.2021.103734},
  author = {Simone Fontana and Daniele Cattaneo and Augusto L. Ballardini and Matteo Vaghi and Domenico G. Sorrenti}
  }
  

2020

• Daniele Cattaneo, Domenico Giorgio Sorrenti, Abhinav Valada,
  CMRNet++: Map and Camera Agnostic Monocular Visual Localization in LiDAR Maps
  IEEE International Conference on Robotics and Automation (ICRA) Workshop on Emerging Learning and Algorithmic Methods for Data Association in Robotics, 2020. (Spotlight)
  Download Video Demo BibTeX

  @article{cattaneo2020cmrnetpp,
    title={{CMRNet++}: Map and Camera Agnostic Monocular Visual Localization in {LiDAR} Maps},
    author={Cattaneo, Daniele and Sorrenti, Domenico Giorgio and Valada, Abhinav},
    journal={IEEE International Conference on Robotics and Automation (ICRA) Workshop on Emerging Learning and Algorithmic Methods for Data Association in Robotics},
    year={2020}
  }
      

• Daniele Cattaneo
  Machine Learning Techniques for Urban Vehicle Localization
  Ph.D. Dissertation
• Daniele Cattaneo, Matteo Vaghi, Simone Fontana, Augusto Luis Ballardini, Domenico Giorgio Sorrenti
  Global visual localization in LiDAR-maps through shared 2D-3D embedding space
  IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020.
  Paper (IEEE)   Paper (arXiv)   BibTeX

  @INPROCEEDINGS{cattaneo2020global,
    author={Cattaneo, D. and Vaghi, M. and Fontana, S. and Ballardini, A. L. and Sorrenti, D. G.},
    booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)}, 
    title={Global visual localization in {LiDAR-maps} through shared {2D-3D} embedding space}, 
    year={2020},
    pages={4365-4371},
    doi={10.1109/ICRA40945.2020.9196859}
  }
  

2019

• Daniele Cattaneo, Matteo Vaghi, Augusto Luis Ballardini, Simone Fontana, Domenico Giorgio Sorrenti, Wolfram Burgard
  CMRNet: Camera to LiDAR-Map Registration
  IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, 2019.
  Paper (IEEE)   Paper (arXiv)   BibTeX

  @INPROCEEDINGS{cattaneo19cmrnet,
    author={Cattaneo, D. and Vaghi, M. and Ballardini, A. L. and Fontana, S. and Sorrenti, D. G. and Burgard, W.},
    booktitle={2019 IEEE Intelligent Transportation Systems Conference (ITSC)}, 
    title={{CMRNet}: Camera to {LiDAR-Map} Registration}, 
    year={2019},
    pages={1283-1289},
    doi={10.1109/ITSC.2019.8917470}}
  

• Augusto Luis Ballardini, Daniele Cattaneo, Domenico Giorgio Sorrenti
  Visual Localization at Intersections with Digital Maps
  IEEE International Conference on Robotics and Automation (ICRA), Montréal, Canada, 2019.
  Paper (IEEE)   BibTeX

  @INPROCEEDINGS{ballardini19intersection,
    author={Ballardini, Augusto Luis and Cattaneo, Daniele and Sorrenti, Domenico Giorgio},
    booktitle={2019 International Conference on Robotics and Automation (ICRA)}, 
    title={Visual Localization at Intersections with Digital Maps}, 
    year={2019},
    pages={6651-6657},
    doi={10.1109/ICRA.2019.8794413}}
  

2017

• Augusto Luis Ballardini, Daniele Cattaneo, Rubén Izquierdo, Ignacio Parra, Miguel Ángel Sotelo, Domenico Giorgio Sorrenti
  Ego-lane estimation by modeling lanes and sensor failures
  IEEE Intelligent Transportation Systems Conference (ITSC), Yokohama, Japan, 2017.
  Paper (IEEE)   BibTeX

  @INPROCEEDINGS{ballardini17ego,
    author={Ballardini, A. L. and Cattaneo, D. and Izquierdo, R. and Parra, I. and Sotelo, M. A. and Sorrenti, D. G.},
    booktitle={2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)}, 
    title={Ego-lane estimation by modeling lanes and sensor failures}, 
    year={2017},
    pages={1-7},
    doi={10.1109/ITSC.2017.8317834}}
  

• Augusto Luis Ballardini, Daniele Cattaneo, Simone Fontana, Domenico Giorgio Sorrenti
  An online probabilistic road intersection detector
  IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.
  Paper (IEEE)   BibTeX

  @INPROCEEDINGS{ballardini17intersection,
    author={Ballardini, Augusto Luis and Cattaneo, Daniele and Fontana, Simone and Sorrenti, Domenico Giorgio},
    booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)}, 
    title={An online probabilistic road intersection detector}, 
    year={2017},
    pages={239-246},
    doi={10.1109/ICRA.2017.7989030}}
  

2016

• Augusto Luis Ballardini, Daniele Cattaneo, Simone Fontana, Domenico Giorgio Sorrenti
  Leveraging the OSM building data to enhance the localization of an urban vehicle
  IEEE Intelligent Transportation Systems Conference (ITSC), Rio de Janeiro, Brazil, 2016.
  Paper (IEEE)   BibTeX

  @INPROCEEDINGS{ballardini16building,
    author={Ballardini, Augusto Luis and Cattaneo, Daniele and Fontana, Simone and Sorrenti, Domenico Giorgio},
    booktitle={2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)}, 
    title={Leveraging the OSM building data to enhance the localization of an urban vehicle}, 
    year={2016},
    pages={622-628},
    doi={10.1109/ITSC.2016.7795618}}