About Me
I am a postdoc at the Dyson Robotics Lab with Prof. Andrew Davison working on novel methods for real-time 3D motion estimation applied to specialised hardware. I did my PhD at the Edinburgh Center for Robotics where I worked on visual SLAM and sensor fusion applied to humanoid robots and on handling dynamic environments in visual SLAM by leveraging motion segmentation. My research interests are in real-time 3D perception methods which can robustly operate on mobile robotic platforms in real world conditions.
News
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Our paper Robust Underwater Visual SLAM Fusing Acoustic Sensing was accepted to ICRA 2021 in Xi’an, China. |
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I joined the Dyson Robotics Lab as a postdoc with Prof. Andrew Davison to continue working on real-time 3D perception methods. |
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I defended my PhD thesis, Robust Dense Visual SLAM Using Sensor Fusion and Motion Segmentation. Thank you to examiners: Stefan Leutenegger (Technical University of Munich) and Sen Wang (Heriot-Watt University). |
Publications
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*E. Vargas, *R. Scona, J. Scharff Wilners, T. Luczynski, Y. Cao, S. Wang, Y. Petillot, Robust Underwater Visual SLAM Fusing Acoustic Sensing. International Conference on Robotics and Automation (ICRA), 2021. [pdf] [video] (* denotes equal contribution)
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Z. Landgraf, R. Scona, T. Laidlow, S. James, S. Leutenegger, A. Davison, SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks. arXiv, 2021. [pdf] [video] [website]
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R. Scona, M. Jaimez, Y. Petillot, M. Fallon, D. Cremers, StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments. International Conference on Robotics and Automation (ICRA), 2018. [pdf] [video]
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R. Scona, S. Nobili, Y. Petillot, M. Fallon, Direct Visual SLAM Fusing Proprioception for a Humanoid Robot. International Conference on Intelligent Robots and Systems (IROS), 2017. [pdf] [video]
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S. Nobili, R. Scona, M. Caravagna, M. Fallon, Overlap-based ICP Tuning for Robust Localization of a Humanoid Robot. International Conference on Robotics and Automation (ICRA), 2017. [pdf] [video]
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A. Mizeranschi, M. Swain, R. Scona, Q. Fazilleau, B. Bosak, T. Piontek, P. Kopta, P. Thompson, W. Dubitzky, MultiGrain/MAPPER: A Distributed Multiscale Computing Approach to Modeling and Simulating Gene Regulation Networks. Future Generation Computer Systems, 2016. [pdf]
- R. Scona. Robust Dense Visual SLAM Fusing Sensor Fusion and Motion Segmentation. PhD Thesis, Heriot-Watt University and The University of Edinburgh, 2020. [pdf]