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Piotr Skrzypczynski

5 accepted papers

2026

MAD-BA: 3D LiDAR Bundle Adjustment -- from Uncertainty Modelling to Structure Optimization

Krzysztof Cwian, Luca Di Giammarino, Simone Ferrari, Thomas Alessandro Ciarfuglia, Giorgio Grisetti, Piotr Skrzypczynski
ICRA 2026poster

The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated separately using implicit representations. This paper introduces a…

Cited by 0Source ↗PDF ↗Scholar ↗
2026

Sat-RoMa: Cross-Scale Dense Matching for Multi-Temporal UAV-To-Orthophoto Registration

Maciej Krupka, Jan Węgrzynowski, Piotr Skrzypczynski
ICRA 2026poster

Reliable Global Navigation Satellite System (GNSS) signals are increasingly denied or jammed in real-world applications, such as search and rescue operations. In such scenarios, Unmanned Aerial Vehicles (UAVs) must rely on downward-facing cameras for absolute localization against reference satellite…

Cited by 0Scholar ↗
2025

MAD-BA: 3D LiDAR Bundle Adjustment - From Uncertainty Modelling to Structure Optimization

Krzysztof Cwian, Luca Di Giammarino, Simone Ferrari, Thomas A. Ciarfuglia, Giorgio Grisetti, Piotr Skrzypczynski
RA-L 2025

The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated separately using implicit representations. This paper introduces a

Cited by 3Source ↗Scholar ↗
2025

Underactuated Dexterous Robotic Grasping With Reconfigurable Passive Joints

Marek Sewer Kopicki, Sainul Islam Ansary, Simone Tolomei, Franco Angelini, Manolo Garabini, Piotr Skrzypczynski
RA-L 2025

We introduce a novel reconfigurable passive joint (RP-joint), which has been implemented and tested on an underactuated three-finger robotic gripper. RP-joint has no actuation, but instead it is lightweight and compact. It can be easily reconfigured by applying external forces and locked to perform

Cited by 2Source ↗Scholar ↗
2016

Improving accuracy of feature-based RGB-D SLAM by modeling spatial uncertainty of point features

Dominik Belter, Michal Nowicki, Piotr Skrzypczynski
ICRA 2016

Many recent solutions to the RGB-D SLAM problem use the pose-graph optimization approach, which marginalizes out the actual depth measurements. In this paper we employ the same type of factor graph optimization, but we investigate the gains coming from maintaining a map of RGBD point features and mo

Cited by 27Source ↗Scholar ↗