Dario Lodi Rizzini

email:

mailing address:

Dip. di Ingegneria dell'Informazione Parco Area delle Scienze, 181A

43100 Parma, ITALY

phone: +39 0521 906147

fax: +39 0521 905723

Consulting hours/Ricevimento: by appointment

Dario Lodi Rizzini is currently a research assistant at the Department of Information Engineering of University of Parma. He received the Master degree (Laurea Specialistica) and the PhD degree respectively in 2005 and 2009. In 2007 he has visited the Autonomous Intelligent System group of the Albert-Ludwigs-Universitaet Freiburg (Germany). His main research interests lie in the area of localization, mapping and navigation of mobile robots. In particular, his past research focused on graphical formulation of SLAM and on mapping algorithm design for balancing computational load and allowing distributed execution. Recently, he addressed the problems of 3D perception and object detection for robot navigation, object manipulation and underwater robotics. He has collaborated to several industrial and national projects. He is IEEE Member.

Profiles on Google Scholar, ORCID and Scopus.

Facts and Quotes
He was the team leader of the teams from the University of Parma for Sick Robot Day 2010, 2012 and 2014 (winning in 2012 and 2014!). His Erdos number is at most 5.

In Robotica hai fatto veramente il tuo dovere se durante gli esperimenti ti giri i pollici.
In Robotics you have truly done your duty if you are idle during the experiments.
(Dario Lodi Rizzini)

Journal publications:

F. Kallasi, D. Lodi Rizzini, F. Oleari, M. Magnani and S. Caselli. A Novel Calibration Method for Industrial AGVs. Robotics and Autonomous Systems, in press, 2017. DOI 10.1016/j.robot.2017.04.019 [DOI] [bib] .

D. Lodi Rizzini, F. Kallasi, J. Aleotti, F. Oleari and S. Caselli. Integration of a stereo vision system into an autonomous underwater vehicle for pipe manipulation tasks. Computers & Electrical Engineering, Volume 58, February 2017, Pages 560-571, ISSN 0045-7906, DOI 10.1016/j.compeleceng.2016.08.023. [DOI] [bib] [project]

G. Casalino, M. Caccia, S. Caselli, C. Melchiorri, G. Antonelli, A. Caiti, G. Indiveri, G. Cannata, E. Simetti, S. Torelli, A. Sperindé, F. Wanderlingh, G. Muscolo, M. Bibuli, G. Bruzzone, E. Zereik, A. Odetti, E. Spirandelli, A. Ranieri, J. Aleotti, D. Lodi Rizzini, F. Oleari, F. Kallasi, G. Palli, U. Scarcia, L. Moriello, E. Cataldi. Underwater Intervention Robotics: An Outline of the Italian National Project MARIS. The Marine Technology Society Journal 50 (4) (2016) 98-107, DOI 10.4031/MTSJ.50.4.7 [DOI] [bib]

F. Kallasi, D. Lodi Rizzini, and S. Caselli. Fast Keypoint Features from Laser Scanner for Robot Localization and Mapping. IEEE Robotics and Automation Letters (RA-L), 1(1):176-183, jan 2016. DOI 10.1109/LRA.2016.2517210 [DOI] [bib] . [code]

D. Lodi Rizzini, F. Kallasi, F. Oleari, and S. Caselli. Investigation of Vision-based Underwater Object Detection with Multiple Datasets. International Journal of Advanced Robotic Systems (IJARS), 12(77):1-13, may 2015. DOI 10.5772/60526 [DOI] [bib] [project]

J. Aleotti, D. Lodi Rizzini, and S. Caselli. Perception and Grasping of Object Parts from Active Robot Exploration. Journal of Intelligent and Robotic Systems (JINT), 76(3-4):401-425, 2014. ISSN 0921-0296, DOI 10.1007/s10846-014-0045-6. [DOI] . [bib]

M. Cigolini, A. Costalunga, F. Parisi, M. Patander, I. Salsi, A. Signifredi, D. Valeriani, D. Lodi Rizzini, and S. Caselli. Lessons Learned in a Ball Fetch-And-Carry Robotic Competition. Journal of Automation, Mobile Robotics and Intelligent Systems (JAMRIS), 8(1):82-90, 2014. DOI 10.14313/JAMRIS_1-2014/11 [DOI] [bib]

D. Lodi Rizzini and S. Caselli. Metric-topological Maps from Laser Scans adjusted with Incremental Tree Network Optimizer. Robotics and Autonomous Systems, 57(10):1036-1041, 2009. ISSN: 0921-8890, DOI 10.1016/j.robot.2009.07.022. [DOI] . [bib]

Conference and Workshop Proceedings:

F. Kallasi and D. Lodi Rizzini. Efficient Loop Closure based on FALKO LIDAR Features for Online Robot Localization and Mapping. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 1206-1213, Oct. 9-14, 2016. DOI - [DOI] . [bib] [code]

F. Oleari, D. Lodi Rizzini, F. Kallasi, J. Aleotti and S. Caselli. Issues in High Performance Vision Systems Design for Underwater Interventions. The 42nd Annual Conference of IEEE Industrial Electronics Society (IECON), pages 1-6, Oct. 24-27, 2016. DOI - [DOI] . [bib] [project]

F. Oleari, F. Kallasi, D. Lodi Rizzini, J. Aleotti, S. Caselli, An Underwater Stereo Vision System: from Design to Deployment and Dataset Acquisition, Proc.~of the IEEE/MTS OCEANS, Pages 1-6, May 19-21, 2015. DOI http://dx.doi.org/10.1109/OCEANS-Genova.2015.7271529 [DOI] . [bib] [project]

F. Kallasi, D. Lodi Rizzini, F. Oleari, J. Aleotti, Computer Vision in Underwater Environments: a Multiscale Graph Segmentation Approach, In Proc.~of the IEEE/MTS OCEANS, Pages 1-6, May 19-21, 2015. DOI 10.1109/OCEANS-Genova.2015.7271531 [DOI] . [bib] [project]

J. Aleotti, D. Lodi Rizzini, R. Monica, and S. Caselli. Global Registration of Mid-Range 3D Observations and Short Range Next Best Views. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 3668-3675, Sept. 14-18, 2014. DOI 10.1109/IROS.2014.6943077 [DOI] . [bib] [code]

F. Oleari, F. Kallasi, D. Lodi Rizzini, J. Aleotti, and S. Caselli. Performance Evaluation of a Low-Cost Stereo Vision System for Underwater Object Detection. In Proc. of the World Congr. of the International Federation of Automatic Control (IFAC), pages 3388-3394, Aug. 24-29, 2014. ISSN: 09210296, DOI 10.3182/20140824-6-ZA-1003.01450 [DOI] . [bib] [project]

D. Lodi Rizzini, F. Oleari, A. Atti, J. Aleotti, and S. Caselli. Unsupervised Range Image Segmentation and Object Recognition using Feature Proximity and Markov Random Field. In Proc. of the Intl. Conf. on Autonomous Intelligent Systems (IAS), pages 807-820. Springer International Publishing, Jul. 15-18, 2014. ISBN 978-3-319-08337-7, DOI 10.1007/978-3-319-08338-4_58 [DOI] . [bib]

F. Kallasi, F. Oleari, M. Bottioni, D. Lodi Rizzini, S. Caselli, Object Detection and Pose Estimation Algorithms for Underwater Manipulation, Advances in Marine Robotics Applications (AMRA), Padova, Jul. 15, 2014. [link] [pdf] [bib] [project]

F. Kallasi, F. Oleari, M. Bottioni, D. Lodi Rizzini, S. Caselli, Bio-Inspired Object Detection and Pose Estimation Algorithms for Underwater Environments, International Advanced Robotics Program (IARP), Workshop-Conference on Bio-inspired Robotics, ENEA-Frascati, Roma (IT), May 14-15, 2014. [link] [bib] [project]

D. Lodi Rizzini and S. Caselli. A Scan Matching Method based on the Area Overlap of Star-shaped Polygons. In Proc. of the European Conference on Mobile Robots (ECMR), pages 74-79, Sep. 25-27, 2013. DOI 10.1109/ECMR.2013.6698823 [DOI] . [bib]

M. Cigolini, A. Costalunga, F. Parisi, M. Patander, I. Salsi, A. Signifredi, D. Valeriani, D. Lodi Rizzini, S. Caselli, Lessons Learned in a Ball Fetch-And-Carry Robotic Competition, 4th International Conference on Robotics in Education (RiE), Lodz, Poland, 2013.

F. Oleari, D. Lodi Rizzini, and S. Caselli. A Low-cost Stereo System for 3D Object Recognition. In Proc. of the Int. Conf. on Intelligent Computer Communication and Processing (ICCP), pages 127-132, Sep. 5-7, 2013. ISBN 978-1-4799-1493-7, DOI 10.1109/ICCP.2013.6646095 [DOI] . [bib]

D. Valeriani, D. Lodi Rizzini, F. Oleari, S. Caselli, A Viewpoint Planning and Navigation Algorithm for Mobile Robots using Depth Images, Australasian Conference on Robotics and Automation (ACRA), Sidney, Australia, 2-4 December, 2013. ISBN 978-0-9807404-4-8, ISSN 1448-2053 [pdf] [bib]

J. Aleotti, D. Lodi Rizzini, and S. Caselli. Object categorization and grasping by parts from range scan data. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pages 4190-4196, St Paul (USA), May 14-18, 2012. ISBN 978-1-4673-1403-9, ISSN 1050-4729, DOI 10.1109/ICRA.2012.6224678 [DOI] . [bib]

D. Lodi Rizzini, G. Boccalini, S. Caselli, Semi-Static Object Detection using Polygonal Maps for Safe Navigation of Industrial Robots. In Proc. of the Intl. Conf. on Informatics in Control, Automation, p. 191-198, Roma (IT), 28-31 July 2012. ISBN 978-989-8565-22-8 [pdf] [bib]

A. Calo, D. Buratti, D. Lodi Rizzini, S. Caselli, Towards the Integrated Simulation and Programming of Palletizing Lines. In Proc. of the Intl. Conf. on Informatics in Control, Automation and Robotics (ICINCO), p. 377-382, Roma (IT), 28-31 July, 2012. ISBN 978-989-8565-22-8 [pdf] [bib]

D. Lodi Rizzini and S. Caselli. A Multi-Hypothesis Constraint Network Optimizer for Maximum Likelihood Mapping. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pages 2485-2490, Shangai (CN), May 9-13, 2011. ISSN 1050-4729, ISBN 978-1-61284-386-5, DOI 10.1109/ICRA.2011.5979946 [DOI] . [bib]

D. Lodi Rizzini and S. Caselli. A Distributed Maximum Likelihood Algorithm for Multi-Robot Mapping. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 573-578, Taipei (TW), Oct 18-22, 2010. ISSN 2153-0858, ISBN 978-1-4244-6674-0, DOI 10.1109/IROS.2010.5652727 [DOI] . [bib]

D. Lodi Rizzini, S. Caselli, A Balanced Distributed Graph-based Framework for Multi-Robot Mapping. Proceedings of IROS Workshop on Probabilistic Graphical Models in Robotics (GraphBot), Taipei (TW), Oct 22, 2010. [pdf] [bib]

M. Argenti, D. Buratti, D. Lodi Rizzini, S. Caselli, An Integrated Tool Suite for Simulation and Programming of Palletizing Units. Proceedings of the joint conference of ISR 2010 and ROBOTIK 2010, Munich (DE), Jun. 7-9, 2010. ISBN 978-3-8007-3273-9 [pdf] [bib]

D. Lodi Rizzini and S. Caselli. A Parallel Maximum Likelihood Algorithm for Robot Mapping. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 1529-1534, St. Louis (USA), Oct. 11-15, 2009. ISBN 978-1-4244-3803-7, DOI 10.1109/IROS.2009.5354006 [DOI] . [bib]

D. Lodi Rizzini, A Closed-Form Constraint Networks Solver for Maximum Likelihood Mapping. Proceedings of European Conference on Mobile Robots (ECMR), p. 223-228, Dubrovnik, September 23-25 2009, ISBN 978-953-6037-54-4. [pdf] [bib]

D. Lodi Rizzini. Towards a closed-form solution of constraint networks for Maximum Likelihood mapping. In Proc. of the Int. Conf. on Advanced Robotics (ICAR), pages 1-5, Munich (DE), June 22-26, 2009. ISBN 978-1-4244-4855-5 [pdf] [bib]

D. Lodi Rizzini, S. Caselli, Experimental Evaluation of a People Detection Algorithm in Dynamic Environments. IEEE ICRA'09 Workshop on People Detection and Tracking, Kobe (JP), May 12 2009. [pdf] [bib]

D. Lodi Rizzini and S. Caselli. Map Estimation with Lasert Scans based on Incremental Tree Network Optimizer. In Proc. of the Int. Conf. on Computational Intelligence, Robotics and Autonomous Systems (CIRAS), pages 25-30, Linz (AT), June 19-21, 2008. ISBN 978-3837065992 [pdf] [bib]

G. Grisetti, D. Lodi Rizzini, C. Stachniss, E. Olson, and W. Burgard. Online Constraint Network Optimization for Efficient Maximum Likelihood Map Learning. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pages 1880-1885, Pasadena (USA), May 19-23, 2008. ISSN 1050-4729, ISBN 978-1-4244-1646-2, DOI 10.1109/ROBOT.2008.4543481 [pdf] [bib]

D. Lodi Rizzini, S. Caselli, Improved Mixture Representation in Real-Time Particle Filters for Robot Localization. Proceedings of European Conference on Mobile Robotics (ECMR), pages 247-252, Freiburg (DE), Sep. 19-21, 2007. [pdf] [bib]

D. Lodi Rizzini, F. Monica, M. Reggiani, S. Caselli, Addressing Complexity Issues in a Real-Time Particle Filter for Robot Localization. In Proc. of the Intl. Conf. on Informatics in Control, Automation and Robotics (ICINCO), pages 355-362, Angers (FR), May 9-12 2007. ISBN 978-972-8865-83-2 [pdf] [bib]

P. Cerri, O. Gerelli, and D. Lodi Rizzini. Bowling for Calibration: An Undemanding Camera Calibration Procedure Using a Sphere. In Camera Calibration Methods for Computer Vision Systems (CCMVS2007), pages 1-6, Bielefeld Univesity (DE), Mar. 22, 2007. DOI 10.2390/biecoll-icvs2007-166 [DOI] . [bib]

Book Chapters

D. Lodi Rizzini and S. Caselli. An Improved Real-Time Particle Filter for Robot Localization. In Pavla Pecherkova, Miroslav Flidr, and Jindrich Dunik, editors, Robotics Automation and Control,. I-Tech Education and Publishing KG, 2008. ISBN 978-953-7619-18-3, DOI 10.5772/5838 [DOI] [bib]

Theses

D. Lodi Rizzini, Computation and Time-Constraints in Localization and Mapping Problems, Ph.D. Thesis, University of Parma, Mar. 3, 2009. [bib]

Courses

Robotica


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