Riccardo Monica
| email: | rmonica[at]ce.unipr.it |
| riccardo[dot]monica[at]unipr.it |
mailing address:
Dipartimento di Ingegneria e Architettura, Parco Area delle Scienze, 181A
43124 Parma, ITALY
| phone: | +39 0521 905702 |
| +39 0521 905792 |
Riccardo Monica is a fixed-term researcher at the Department of Engineering and Architecture of the University of Parma. He received a Ph.D. in Information Technologies, in 2018, and a Master degree (Laurea Magistrale) in computer engineering, in 2014, both from the University of Parma. In 2016, he was a visiting PhD student at the Vision for Robotics Laboratory, Vienna University of Technology (Austria). His main research interests lie in 3D reconstruction and robot perception of 3D environments.
Journal publications:
R. Monica and J. Aleotti, A Probabilistic Next Best View Planner for Depth Cameras Based on Deep Learning, in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3529-3536, April 2021 [Code]
J. Aleotti, A. Baldassarri, M. Bonfè, M. Carricato, D. Chiaravalli, R. Di Leva, C. Fantuzzi, S. Farsoni, G. Innero, D. Lodi Rizzini, C. Melchiorri, R. Monica, G. Palli, J. Rizzi, L. Sabattini, G. Sampietro and F. Zaccaria, Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception, Applied Sciences 2021, vol. 11, no. 13, 5959
M. Raineri, R. Monica and C. Guarino Lo Bianco, A Real-Time 3D Reconstruction of Staircases for Rehabilitative Exoskeletons, in IEEE Transactions on Medical Robotics and Bionics, vol. 3, no. 1, pp. 220-229, Feb. 2021
R. Monica, J. Aleotti, Surfel-Based Incremental Reconstruction of the Boundary between Known and Unknown Space, IEEE Transactions on Visualization and Computer Graphics, Volume 26, Issue 8, August 2020 [Video] [Code (ROS)] [Code (replicability stamp)]
R. Monica, J. Aleotti, Point Cloud Projective Analysis for Part-Based Grasp Planning, IEEE Robotics and Automation Letters, Volume 5, Issue 3, July 2020 [Video] [Code] [Dataset]
R. Monica, L. Davoli, G. Ferrari, A Wave-Based Request-Response Protocol for Latency Minimization in WSNs, IEEE Internet of Things Journal, Volume: 6, Issue: 5 , Oct. 2019 [Code]
M. Giorgini, S. Marini, R. Monica, J. Aleotti, Sensor-Based Optimization of Terrestrial Laser Scanning Measurement Setup on GPU, IEEE Geoscience and Remote Sensing Letters, Volume 16, Issue 9, 2019
M. Giorgini, J. Aleotti, R. Monica, Floorplan Generation of Indoor Environments From Large-Scale Terrestrial Laser Scanner Data, IEEE Geoscience and Remote Sensing Letters, Volume 16, Issue 5, 2019
R. Monica, J. Aleotti, Surfel-based Next Best View Planning, IEEE Robotics and Automation Letters, Volume 3, Issue 4, Oct. 2018
R. Monica, J. Aleotti, Contour-based next-best view planning from point cloud segmentation of unknown objects, Autonomous Robots, Volume 42, Issue 2, February 2018, Pages 443-458
R. Monica, J. Aleotti, S. Caselli, A KinFu based approach for robot spatial attention and view planning, Robotics and Autonomous Systems, Volume 75, Part B, January 2016, Pages 627-640
Conference and Workshop Proceedings:
M. Zaccaria, M. Giorgini, R. Monica, J. Aleotti, Multi-Robot Multiple Camera People Detection and Tracking in Automated Warehouses, IEEE International Conference on Industrial Informatics (INDIN), July 21-23, 2021, Palma de Mallorca, Spain (virtual)
U. Erra, N. Capece, N. Lettieri, E. Fabiani, F. Banterle, P. Cignoni, P. Dazzi, J. Aleotti, R. Monica, Collaborative Visual Environments for Evidence Taking in Digital Justice: A Design Concept, 1st Workshop on Flexible Resource and Application Management on the Edge (FRAME), Virtual event, Sweden, June 25, 2021 (virtual)
R. Monica, J. Aleotti, D. Lodi Rizzini, Detection of Parcel Boxes for Pallet Unloading Using a 3D Time-of-Flight Industrial Sensor, Fourth IEEE International Conference on Robotic Computing (IRC), Taichung, Taiwan, November 9-11, 2020 (virtual) (invited paper)
M. Zaccaria, R. Monica, J. Aleotti, A Comparison of Deep Learning Models for Pallet Detection in Industrial Warehouses, IEEE 16th International Conference on Intelligent Computer Communication and Processing (ICCP), September 3-5, 2020, Cluj-Napoca, Romania (virtual)
D. Chiaravalli, G. Palli, R. Monica, J. Aleotti, D. Lodi Rizzini, Integration of a Multi-Camera Vision System and Admittance Control for Robotic Industrial Depalletizing, IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2020, 8-11 September 2020, Vienna, Austria
R. Monica, J. Aleotti, D. Piccinini, Humanoid Robot Next Best View Planning under Occlusions Using Body Movement Primitives, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 4-8, 2019, Macau, China [Video]
R. Monica, J. Aleotti, A 3D Robot Self Filter for Next Best View Planning, The Third IEEE International Conference on Robotic Computing (IRC 2019), February 25-27, 2019 Naples, Italy [Video1] [Video2] [Code]
R. Monica, J. Aleotti, M. Zillich, M. Vincze, Multi-Label Point Cloud Annotation by Selection of Sparse Control Points, International Conference on 3D Vision (3DV), Qingdao, China, October 10th-12th 2017 [code]
R. Monica, M. Zillich, M. Vincze, J. Aleotti, RGB-D Fusion Enhancement by Mode Filter for Surfel Cloud Segmentation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 24-28, 2017, Vancouver, BC, Canada
R. Monica, A. Zinelli, J. Aleotti, GMM-based Spatial Change Detection from Bimanual Tracking and Point Cloud Differences, Third Italian Workshop on Artificial Intelligence and Robotics (AIRO), Genoa, Italy, November 28, 2016.
R. Monica, J. Aleotti, S. Caselli, GMM-Based Detection of Human Hand Actions for Robot Spatial Attention, The 17th International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, July 27-31, 2015.
J. Aleotti, D. Lodi Rizzini, R. Monica, S. Caselli, Global Registration of Mid-Range 3D Observations and Short Range Next Best Views, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, USA, September 14-18, 2014. [Video]
Teaching:
2021/2022:
General-purpose GPU programming in CUDA, PhD course in Information Technologies
Object-oriented programming (in Italian)
2020/2021:
Computer graphics (in Italian)
Theses
R. Monica, Advances in Robot Attention for Next-Best View Planning, Ph.D. Thesis, University of Parma, 2018. [Download]
R. Monica, Automatic 3D scene reconstruction and update based on KinectFusion and active robot exploration, Master Thesis, University of Parma, 2014.
Download
Some open-source software can be found at his GitHub repository:
- bish_segmentation: C++ implementation of the BiSH categorization and segmentation algorithm.
- surfels_unknown_space: Surfel-based 3D reconstruction of known volume.
- surfel_cloud_rviz_plugin: ROS RViz plugin to display surfel clouds.
- elastic_bridge: ROS wrapper for ElasticFusion.
- surfel_next_best_view: ROS node for view pose evaluation in a surfel cloud.
- rviz_cloud_annotation: Point cloud annotation tool, based on RViz.
- Kinect2 shadow removal: Fork of libfreenect2 with shadow removal filter, for OpenCL pipeline.
- ros_kinfu: PCL KinFu Large Scale wrapper for ROS.
- gaussian_mixture_model: A ROS node to execute the EM algorithm on arbitrary data and obtain a Gaussian Mixture Model.
- basic_next_best_view: A ROS node for a simple next best view algorithm.
Datasets:
- grasping_rd_dataset: part-based grasping dataset. It contains 34 noisy point clouds of objects. Object parts are annotated.
- surfels_unknown_space_dataset: scan sequences acquired with Kinect v1, and corresponding ElasticFusion output. This dataset may be used to test the surfels_unknown_space package. [Readme] [Scenario 1] [Scenario 1 GT] [Scenario 2] [Scenario 2 GT]
- hand-polhemus-dataset: A dataset of hand trajectories acquired using the FasTrak Polhemus sensor.