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Dr. Daniele Cattaneo

Postdoctoral Researcher
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

About me

  • 01/2020 - current: 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

  • Perception and localization for self-driving cars
  • Deep learning for vision-based and LiDAR-based localization
  • Sensor fusion

Current Research Projects

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

Supervised Students

  • Unsupervised LiDAR moving object detection, Venkat Subramanyam (Ongoing)
  • Panoptic SLAM and loop closure detection, José Arce y de la Borbolla (Ongoing)
  • Action segmentation and recognition for clinical patients from multi-view cameras, Jing Lu
  • Unsupervised domain adaptation for LiDAR panoptic segmentation, Borna Bešić
  • Multi-Hypothesis CNN for camera localization in LiDAR maps, Yigit Yukselen

Publications

Google scholar profile

2022

  • Niclas Vödisch, Daniele Cattaneo, Wolfram Burgard, Abhinav Valada
    Continual SLAM: Beyond Lifelong Simultaneous Localization and Mapping through Continual Learning
    arXiv preprint arXiv:2203.01578, 2022
    Paper (arXiv)Project pageBibTeX
  • 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)VideoProject pageBibTeX
  • 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

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
  • 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

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
  • 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

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
  • 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

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
  • 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

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