FedericoTombari

Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

Federico Tombari

Contact

PD Dr. Ing. Habil. Federico Tombari

  • Email: tombari|[at]|in.tum.de

  • Address:

Chair for Computer Aided Medical Procedures & Augmented Reality
Fakultät für Informatik
Technische Universität München
Boltzmannstr. 3
85748 Garching b. München

At the CAMP Chair?, I am currently leading the computer vision team, and I coordinate most of the computer vision-related research activities.

I am particularly active in the area of 3D/RGB-D perception and applications of deep learning to computer vision.

The fields of application of my research are mostly in robotics, healthcare, augmented reality and autonomous driving.

News

  • Aug 2019: 5 papers accepted at ICCV '19, 2 of which orals (4.3% acceptance rate).
  • Jul 2019: 1 paper accepted at ICRA '19, 2 papers accepted at IROS '19 (1 with RA-L publication).
  • Jul 2019: Our first Meetup in computer vision in Zurich will be on July 24 on perception and learning for drones.
  • May 2019: I am co-organizing (together with MIT and ETH) UAD '19, a workshop on Autonomous Driving to be held at RSS in June.
  • Mar 2019: 3 papers accepted at CVPR '19 (1 oral).
  • Feb 2019: I'll be giving an invited lecture at the ICVSS summer school in July.
  • Dec 2018: I'll be Program Chair for 3DV '19.
  • Jul 2018: 5 papers accepted at ECCV '18 (1 oral), 4 papers accepted at IROS '18.
  • Jun 2018: I am co-editing a PAMI Special Issue on RGB-D Vision (deadline on September 20th), for more info please see the Call for Papers.
  • May 2018: CVPR '18 Outstanding Reviewer Award.
  • May 2018: 1 paper accepted at CVPR '18 (spotlight), 1 paper accepted at MICCAI '18 (direct accept).
  • Mar 2018: I am the recipient of a Google Faculty Research Award for a project on 3D computer vision for assistive technology.
  • Mar 2018: Invited talk and Best Talk Award at Metromeet 2018
  • Mar 2018: We are organizing a new Meetup on "Self-Driving Cars", with talks from Lyft, Intel and TUM.
  • Feb 2018: I have been appointed Web Chair and Area Chair for MVA'19.
  • Jan 2018: I have been awarded with an Amazon Research Award 2017.
  • Dec 2017: I'll be Demo Chair for ECCV'18 and Area Chair for 3DV '18.
  • Nov 2017: I am giving an invited talk on mapping and reconstruction for self-driving cars at TU-Automotive Europe in Munich. The talk will be on November 4 in the afternoon.
  • Oct 2017: Our work on "6D Object Pose Estimation with Depth Images" got the ISMAR '17 Best Demo Award.
  • Jul 2017: CVPR '17 Outstanding Reviewer Award.
  • Jul 2017: 3 papers accepted at ICCV '17 (1 oral).

Open Positions

Ongoing Projects

My research activity is sponsored by industrial partners through research projects in computer vision and machine learning, for which I act as the Principal Investigator and academical supervisor. Currently active projects include:

  • Toyota, on 3D object recognition and pose estimation for service robotics
  • Google, on development of 3D perception algorithms for the Tango project
  • BMW, on the development of computer vision and deep learning technology for autonomous driving
  • Amazon, on the development of algorithms for monocular SLAM and semantic mapping
  • IABG, on the development of 3D mapping algorithms for UAVs
  • Zeiss, on the development of computer vision technology for retinal microsurgery interventions

Teaching

Student Projects

In addition to this list of offered projects, other topics are available upon request for student with a strong background in Computer Vision and/or Deep Learning and good C++/Python skills.

Available
Hiwi3D Pedestrian Detection and Pose Estimation
(Mahdi Saleh, Federico Tombari)
DA/MA/BA3D Object Detection and Segmentation from Point Clouds
(Mahdi Saleh, Federico Tombari)
DA/MA/BAPhotorealistic Rendering of Training Data for Object Detection and Pose Estimation with a Physics Engine
(Fabian Manhardt, Johanna Wald, Federico Tombari)
Master ThesisindoorSLAM: Robust RGB-D SLAM based on Plane-Line-Point features for indoor scenes
(Yanyan Li, Federico Tombari)
DA/MA/BAThesis or Guided Research in Autonomous Driving related topics
(Nikolas Brasch, Federico Tombari)

Running
DA/MA/BADynamic objects in dense reconstruction
(Nikolas Brasch, Federico Tombari)
DA/MA/BA3D Human Pose Estimation from RGB Images
(Nikolas Brasch, Federico Tombari)
Master ThesisTrajectory Validation using Deep Learning Methods
(Nikolas Brasch, Federico Tombari)
Master ThesisEvaluation of real-time dense reconstruction for robotic navigation
(Nikolas Brasch, Federico Tombari)
Master ThesisRethinking Deep Learning based Monocular Depth Prediction
(Helisa Dhamo, Federico Tombari)
Master ThesisIncremental Learning For Robotic Grasping
(Fabian Manhardt, Federico Tombari)

List of Publications at CAMP

2019
, D. J. Tan , N. Navab, F. Tombari
ForkNet: Multi-branch Volumetric Semantic Completion from a Single Depth Image
International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 (bib)
F. Manhardt, D. Arroyo, C. Rupprecht, B. Busam, T. Birdal, N. Navab, F. Tombari
Explaining the Ambiguity of Object Detection and 6D Pose From Visual Data
International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 (bib)
M. Herb, T. Weiherer, N. Navab, F. Tombari
Crowd-sourced Semantic Edge Mapping for Autonomous Vehicles
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, November, 2019. (bib)
H. Dhamo, N. Navab, F. Tombari
Object-driven Multi-Layer Scene Decomposition from a Single Image
International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 (bib)
J. Wald, A. Avetisyan, N. Navab, F. Tombari, M. Niessner
RIO: 3D Object Instance Re-Localization in Changing Indoor Environments
International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 [oral].
The last two authors share senior authorship.
(bib)
J. Postel, F. Ferroni, H. Coskun, N. Navab, F. Tombari
Sampling-free Epistemic Uncertainty Estimation Using Approximated Variance Propagation
International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 [oral]. (bib)
Y. Zhao, T. Birdal, H. Deng, F. Tombari
3D Point-Capsule Networks
IEEE Computer Vision and Pattern Recognition (CVPR), Long Beach, United States, June 2019 (bib)
B. Munjal, S. Amin, F. Tombari, F. Galasso
Query-guided End-to-End Person Search
IEEE Computer Vision and Pattern Recognition (CVPR), Long Beach, United States, June 2019 (bib)
O. Scheel, N. Nagaraja, L. Schwarz, N. Navab, F. Tombari
Attention-based Lane Change Prediction
IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019.
(bib)
H. Dhamo, K. Tateno, I. Laina, N. Navab, F. Tombari
Peeking Behind Objects: Layered Depth Prediction from a Single Image
Pattern Recognition Letters, Vol. 125, 2019 (bib)
Y. Gao, , , N. Navab, F. Tombari
Variational Object-aware 3D Hand Pose from a Single RGB Image
IEEE Robotics and Automation Letters 2019 (bib)
2018
C. Rupprecht, I. Laina, N. Navab, G. D. Hager, F. Tombari
Guide Me: Interacting with Deep Networks
Conference on Computer Vision and Pattern Recognition (CVPR), Salt Lake City, Utah, USA, June 2018.
Spotlight. The first two authors contribute equally to this paper.
(bib)
Y. Nakajima , K. Tateno, F. Tombari, H. Saito
Fast and Accurate Semantic Mapping through Geometric-based Incremental Segmentation
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October, 2018. (bib)
N. Brasch, A. Bozic, J. Lallemand, F. Tombari
Semantic Monocular SLAM for Highly Dynamic Environments
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October, 2018
The first two authors contributed equally.
(bib)
J. Wald, K. Tateno, J. Sturm, N. Navab, F. Tombari
Real-Time Fully Incremental Scene Understanding on Mobile Platforms
IEEE Robotics and Automation Letters (presented at IROS), Madrid, Spain, October 2018 (bib)
K. Tateno, N. Navab, F. Tombari
Distortion-Aware Convolutional Filters for Dense Prediction in Panoramic Images
15th European Conference on Computer Vision (ECCV), Munich, Germany, September, 2018. (bib)
D. Rethage, J. Wald, J. Sturm, N. Navab, F. Tombari
Fully-Convolutional Point Networks for Large-Scale Point Clouds
European Conference On Computer Vision (ECCV), Munich, Germany, September 2018 (bib)
F. Manhardt, W. Kehl, N. Navab, F. Tombari
Deep Model-Based 6D Pose Refinement in RGB
European Conference On Computer Vision (ECCV), Munich, Germany, September 2018 [oral].
The first two authors contributed equally to this paper.
(bib)
T. Hodan, F. Michel, E. Brachmann, W. Kehl, A. Buch, D. Kraft, B. Drost, J. Vidal, S. Ihrke, X. Zabulis, C. Sahin, F. Manhardt, F. Tombari, T.K. Kim, J. Matas, C. Rother
BOP: Benchmark for 6D Object Pose Estimation
European Conference On Computer Vision (ECCV), Munich, Germany, September 2018. (bib)
O. Scheel, L. Schwarz, N. Navab, F. Tombari
Situation Assessment for Planning Lane Changes: Combining Recurrent Models and Prediction
IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.
(bib)
G. Ghazaei, I. Laina, C. Rupprecht, F. Tombari, N. Navab, K. Nazarpour
Dealing with Ambiguity in Robotic Grasping via Multiple Predictions
Asian Conference on Computer Vision and Pattern Recognition (ACCV), Perth, Australia, December 2018. (bib)
2017
C.-H. Huang, B. Allain, E. Boyer, J.-S. Franco, F. Tombari, N. Navab, S. Ilic
Tracking-by-Detection of 3D Human Shapes: from Surfaces to Volumes
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) (bib)
W. Kehl, F. Tombari, S. Ilic, N. Navab
Real-Time 3D Model Tracking in Color and Depth on a Single CPU Core
Conference on Computer Vision and Pattern Recognition (CVPR), Honolulu, USA, July 2017 (bib)
C. Rupprecht, I. Laina, R. DiPietro, M. Baust, F. Tombari, N. Navab, G. D. Hager
Learning in an Uncertain World: Representing Ambiguity Through Multiple Hypotheses
International Conference on Computer Vision (ICCV 2017), Venice, Italy, October 2017 (bib)
W. Kehl, F. Manhardt, F. Tombari, S. Ilic, N. Navab
SSD-6D: Making RGB-Based 3D Detection and 6D Pose Estimation Great Again
International Conference on Computer Vision (ICCV), Venice, Italy, October 2017 [oral].
The first two authors contributed equally to this paper.
(bib)
H. Coskun, F. Achilles, R. DiPietro, N. Navab, F. Tombari
Long Short-Term Memory Kalman Filters:Recurrent Neural Estimators for Pose Regularization
International Conference on Computer Vision (ICCV), Venice, Italy, October 2017 (bib)
D. J. Tan , N. Navab, F. Tombari
6D Object Pose Estimation with Depth Images: A Seamless Approach for Robotic Interaction and Augmented Reality
This was submitted as an extended abstract to the demo session and workshop.
A pre-print version is available online at arXiv.
(bib)
I. Laina, N. Rieke, C. Rupprecht, J. Page Vizcaino, A. Eslami, F. Tombari, N. Navab
Concurrent Segmentation and Localization for Tracking of Surgical Instruments
Accepted to Proceedings of the 20th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), Quebec, Canada, September 2017.
A pre-print version is available online at arXiv.
The first two authors contribute equally to this paper.
(bib)
D. J. Tan , N. Navab, F. Tombari
Looking Beyond the Simple Scenarios: Combining Learners and Optimizers in 3D Temporal Tracking
IEEE International Symposium on Mixed and Augmented Reality (ISMAR), Nantes, France, 2017 (bib)
S.C. Lee, B. Fuerst, K. Tateno, A. Johnson, J. Fotouhi, G. Osgood, F. Tombari, N. Navab
Multi-modal Imaging, Model-based Tracking and Mixed Reality Visualisation for Orthopaedic Surgery
Healthcare Technology Letters Journal (IET HTL), September, 2017. This work won the outstanding paper award at AE-CAI 2017.
The final publication is available at http://digital-library.theiet.org/content/journals/10.1049/htl.2017.0066
(bib)
K. Tateno, F. Tombari, I. Laina, N. Navab
CNN-SLAM: Real-time dense monocular SLAM with learned depth prediction
IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Hawaii, USA, June, 2017.
The first two authors contribute equally to this paper.
(bib)
C. Rupprecht, A. Kapil, N. Liu, L. Ballan, F. Tombari
Learning without prejudice: Avoiding bias in webly-supervised action recognition
Computer Vision and Image Understanding (bib)
D. J. Tan , N. Navab, F. Tombari
Adaptive Learning-based Temporal Tracker for 3D Head Shape Models
British Machine Vision Conference, London, UK, September 4-7, 2017 (bib)
K. Tateno, F. Tombari, N. Navab
Large Scale and Long Standing Simultaneous Reconstruction and Segmentation
Computer Vision and Image Understanding (CVIU), Volume 157, Pages 138-150, April, 2017.
The final publication is available at http://www.sciencedirect.com/science/article/pii/S1077314216300662
(bib)
J. Page Vizcaino, N. Rieke, D. J. Tan , F. Tombari, A. Eslami, N. Navab
Automatic Initialization and Failure Detection for Surgical Tool Tracking in Retinal Microsurgery
Workshops Bildverarbeitung fuer die Medizin (BVM), Heidelberg, March 12-14, 2017. (bib)
D. J. Tan , F. Tombari, N. Navab
Real-Time Accurate 3D Head Tracking and Pose Estimation with Consumer RGB-D Cameras
International Journal of Computer Vision (bib)
2016
W. Kehl, T. Holl, F. Tombari, S. Ilic, N. Navab
An Octree-Based Approach towards Efficient Variational Range Data Fusion
British Machine Vision Conference (BMVC), York, UK, September 2016 (bib)
W. Kehl, F. Milletari, F. Tombari, S. Ilic, N. Navab
Deep Learning of Local RGB-D Patches for 3D Object Detection and 6D Pose Estimation
European Conference On Computer Vision (ECCV), Amsterdam, The Netherlands, October 2016 (bib)
I. Laina, C. Rupprecht, V. Belagiannis, F. Tombari, N. Navab
Deeper Depth Prediction with Fully Convolutional Residual Networks
International Conference on 3DVision (3DV), Stanford University, California, USA, October 2016.
Oral presentation. The first two authors contribute equally to this paper.
(bib)
N. Rieke, D. J. Tan , F. Tombari, J. Page Vizcaino, C. Amat di San Filippo, A. Eslami, N. Navab
Real-Time Online Adaption for Robust Instrument Tracking and Pose Estimation
Proceedings of the 19th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), Athens, Greece, October 2016 (bib)
F. Achilles, A.E. Ichim, H. Coskun, F. Tombari, S. Noachtar, N. Navab
PatientMocap: Human Pose Estimation under Blanket Occlusion for Hospital Monitoring Applications
Proceedings of the 19th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), Athens, Greece, October 2016 (bib)
C. Li , H. Xiao, K. Tateno, F. Tombari, N. Navab, G. D. Hager
Incremental Scene Understanding on Dense SLAM
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October, 2016. (bib)
C. Rupprecht, C. Lea, F. Tombari, N. Navab, G. D. Hager
Sensor Substitution for Video-based Action Recognition
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, October 2016 (bib)
N. Rieke, D. J. Tan , C. Amat di San Filippo, F. Tombari, M. Alsheakhali, V. Belagiannis, A. Eslami, N. Navab
Real-time Localization of Articulated Surgical Instruments in Retinal Microsurgery
Medical Image Analysis, vol. 34, 82-100, 2016. The original publication is available online at medicalimageanalysisjournal.com. A free version is available until November 17,2016 (bib)
F. Achilles, F. Tombari, V. Belagiannis, A.M. Loesch, S. Noachtar, N. Navab
Convolutional neural networks for real-time epileptic seizure detection
Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization, Taylor & Francis, 2016 (bib)
F. Grün, C. Rupprecht, N. Navab, F. Tombari
A Taxonomy and Library for Visualizing Learned Features in Convolutional Neural Networks
International Conference on Machine Learning (ICML) Workshop on Visualization for Deep Learning, New York, USA, June 23rd, 2016 (bib)
K. Tateno, F. Tombari, N. Navab
When 2.5D is not enough: Simultaneous Reconstruction, Segmentation and Recognition on dense SLAM
IEEE International Conference on Robotics and Automation (ICRA), Stockholm, May 2016 (bib)
2015
W. Kehl, F. Tombari, N. Navab, S. Ilic, V. Lepetit
Hashmod: A Hashing Method for Scalable 3D Object Detection
British Machine Vision Conference (BMVC), Swansea, UK, September 2015 (bib)
K. Tateno, F. Tombari, N. Navab
Real-Time and Scalable Incremental Segmentation on Dense SLAM
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015 (bib)
D. J. Tan , F. Tombari, S. Ilic, N. Navab
A Versatile Learning-based 3D Temporal Tracker: Scalable, Robust, Online
International Conference on Computer Vision (ICCV), Santiago, Chile, December 2015 (bib)
C.-H. Huang, F. Tombari, N. Navab
Repeatable Local Coordinate Frames for 3D Human Motion Tracking: from Rigid to Non-Rigid
International Conference on 3D Vision (3DV), Lyon, France, Oct. 20, 2015 (bib)
D. J. Tan , F. Tombari, N. Navab
A Combined Generalized and Subject-Specific 3D Head Pose Estimation
International Conference on 3D Vision (3DV), Lyon, France, October 2015 (bib)
V. Zografos, A. Valentinitsch, M. Rempfler, F. Tombari, B. Menze
Hierarchical multi-organ segmentation without registration in 3D abdominal CT images
MICCAI-MCV 2015, 2015, Munich, Germany (bib)
N. Rieke, D. J. Tan , M. Alsheakhali, F. Tombari, C. Amat di San Filippo, V. Belagiannis, A. Eslami, N. Navab
Surgical Tool Tracking and Pose Estimation in Retinal Microsurgery
Proceedings of the 18th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Munich, Germany, October 2015 (bib)
F. Milletari, A. Ahmadi, C. Kroll, C. Hennersperger, F. Tombari, A. Shah, A. Plate, K. Bötzel, N. Navab
Robust Segmentation of Various Anatomies in 3D Ultrasound Using Hough Forests and Learned Data Representations
MICCAI 2015, the 18th International Conference on Medical Image Computing and Computer Assisted Intervention (bib)
S. Habert, Ma Meng, W. Kehl, Xiang Wang, F. Tombari, P. Fallavollita, N. Navab
Augmenting mobile C-arm fluoroscopes via Stereo-RGBD sensors for multimodal visualization
International Symposium on Mixed and Augmented Reality (ISMAR), 2015 (bib)
F. Milletari, W. Kehl, F. Tombari, S. Ilic, A. Ahmadi, N. Navab
Universal Hough dictionaries for object tracking
British Machine Vision Conference (BMVC), Swansea, UK, September 2015 (bib)

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Firstname: Federico
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Lastname: Tombari
Picture: FedericoTombari.png
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Nationality: Cosmopolitan
Languages: English
Groups: Computer Vision, Industrial Augmented Reality
Expertise: Computer Vision, Industrial Augmented Reality
Position: Scientific Staff
Status: Active
Emailbefore: tombari
Emailafter: in.tum.de
Room: 03.13.040
Telephone: +49 089-289 17082
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