Timo Hinzmann

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I N F O

Name Timo Hinzmann

Address Leonhardstrasse 21

8092 Zürich

LEE J314

Switzerland

Phone +41 76 804 088 6

Email hitimo@ethz.ch

Website www.timohinzmann.com

Skype thinzmann

Linkedin Linkedin.com/in/timohinzmann

A c a d e m i c s

12/2014-now Ph.D. student Autonomous Systems Lab, ETH Zurich

“Perception for Fully Autonomous Fixed-Wing UAVs” - Involved in the projects:

ICARUS: Integrated Components for Assisted Rescue and Unmanned Search Operations SHERPA: Smart collaboration between Humans and ground-aerial Robots for improving rescuing activities in Alpine environments AtlantikSolar: A UAV for the first-ever autonomous solar-powered crossing of the Atlantic Ocean SolAIR: Solar-powered Automated Aerial Imaging and Reconnaissance Using Infrared Cameras armasuisse Science & Technology: Vision-based landing, obstacle avoidance, SLAM, and low-altitude flights rega – Swiss Mountain Rescue: Human Detection & Tracking

- (Co-)Authored 3 journal and 12 conference papers - Supervised 25 student projects - Involved in the writing & submission of several new projects - Code contributions to ETH-spinoff sevensense

04/2014-11/2014 Master Thesis Jet Propulsion Laboratory, CalTech/NASA

M.Sc. Thesis “Robust Vision-based Navigation for Micro Air Vehicles” JPL’s Visiting Student Researchers Program (JVSRP) Supervised by Stephan Weiss and Roland Brockers.

10/2012-11/2014 M. Sc. Robotics, Systems and Control ETH Zurich

Semester project: “Adaptive control of multirotor aerial vehicles”, at ETH Zurich’s Autonomous Systems Lab. Supervised by Michael Burri, Sammy Omari and Markus Achtelik

10/2008-10/2011 B.Sc. Electrical Engineering and Information Technology Karlsruhe Institute of Technology

B.Sc. Thesis: “Path planning of a differential drive ground robot” at the Institute of Systems Optimization (ITE). Supervised by Justus Seibold.

07/1999-07/2008 High School of Natural Sciences Kepler Gymnasium Pforzheim

DMV award of the German Mathematician Society Nominated for scholarship of the German National Academic Foundation Several school awards for final GPA of 1.0/1.0 Aug. 2005 - Jul. 2006: Exchange student at US High School, Holliday, TX, USA. Graduated with Honorary Diploma

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W o r k E x p e r i e n c e ( S e l e c t i o n )

01/2012-09/2012 Internship BMW Group Research & Development, Project Connected Drive

- Integration of advanced driver assistance systems into one superior system to anticipate and avoid dangerous situations. - Implementation of assistance system in a driving simulator using SIMULINK. - Technical organization of a test group study consisting of 70 persons to evaluate the performance and acceptance of the system. - Implementation in an experimental vehicle and successful demonstration of the performance on a test track. Supervised by Philipp Reinisch and Moritz Werling

09/2010-04/2011 Research Assistant

Institute of Optimization (ITE), Karlsruhe Institute of Technology

Design of printed circuit boards (PCB) for indoor pedestrian navigation systems Supervised by Christian Ascher

09/2009-07/2011 Research Assistant

Fraunhofer Institute of Optronics, System Technologies and Image Exploitation (IOSB) Karlsruhe

“Model predictive control for fuel consumption reduction of heavy trucks” Supervised by Prof. Michael Heizmann

09/2009-09/2010 KaRaceIng formula student, team member

Team electronics Design of printed circuit boards (PCB)

T e a c h i n g

2018 Perception and Learning for Robotics, ASL, ETH Zurich By C. Cadena, I. Gilitschenski, Prof. R. Siegwart Project: “Deep Learning Enhanced Human Detection using RGB and Infrared Imagery onboard of Fixed-Wing UAVs”

2015-2018 Autonomous Mobile Robots, ASL, ETH Zurich By Prof. R. Siegwart, Prof. D. Scaramuzza, Prof. M. Chli et al. Exercises: “Line extraction”, “Line-based EKF”, “EKF SLAM”

2017 Artificial Intelligence for Robotics, ASL, ETH Zurich By I. Gilitschenski, C. Cadena, Prof. R. Siegwart Exercises: “Pose Graph Optimization”, “Iterative Closest Point”

2015 Robot Dynamics, ASL, ETH Zurich By Prof. R. Siegwart, Prof. M. Hutter et al. Exercise: “Aircraft aerodynamics/flight mechanics”

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A t t e n d e d C o u r s e s

Ph.D.

3D Vision Artificial Intelligence for Robotics Deep Learning

M. Sc.

Autonomous Mobile Robots Control Systems II Dynamic Programming and Optimal Control ETH Zurich Distinguished Seminar in Robotics, Systems and Control Embedded Control Systems Image Analysis and Computer Vision Machine Learning Model Predictive Control Nonlinear Dynamics and Chaos I Nonlinear Systems and Control Probabilistic Artificial Intelligence Recursive Estimation Regelungstechnik II System identification Theory of Robotics and Mechatronics Unmanned Aircraft Design, Modeling and Control

B. Sc.

Advanced Mathematics I/II/III Analysis and Design of Multisensor Systems Automation of Discrete and Hybrid Systems Communication Engineering I Complex Analysis and Integral Transformations Digital Technology Electric Energy Systems Electrical Machines and Power Electronics Electromagnetic Fields and Waves Electronic Devices and Circuits Fundamentals on High Frequency Techniques Image Processing for Navigation and Object Tracking Applications Information Technology Interference-resistant Communication Laboratory Course for Fundamental Electrical Engineering Laboratory in Information Technology Linear Electronic Devices Measurement Engineering Passive Components Physics I/II Principles of Flight Dynamics and Control Radar Systems Engineering Semiconductor Devices Sensors Signals and Systems Solid State Electronics Space Electronics and Telemetry Stochastic Control Systems System Dynamics and Control Engineering Theory of Probability

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L a n g u a g e s

German Mother Tongue

English Fluent TOEFL iBT 113/120

French Advanced

Italian Basic

Spanish Basic

T e c h n i c a l S k i l l s ( S e l e c t i o n )

C/C++ Matlab/Simulink

Python Maple

HTML/JS/CSS/PHP Labview

ROS Linux

GIT CI/Jenkins

EAGLE PSPICE/LTSPICE

Siemens NX Latex

uController (arduino) Pixhawk

Tensorflow/Caffe GPU programming

FPGA programming CPU multi-threading

PIX4D OpenCV

Ceres GTSAM

Odroid, UP board, Pi0 Jetson TX1, TX2

O p e n - s o u r c e f r a m e w o r k s Aerial Mapper Real-Time 3D Dense Reconstruction, Digital Surface Map and

Incremental Orthomosaic Generation for Unmanned Aerial Vehicles Maplab An open visual-inertial mapping framework. (Contributed to code base)

Robust ICP Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")

A c a d e m i c S e r v i c e

Reviewer for IEEE International Conference on Robotics and Automation Reviewer for IEEE International Conference on Intelligent Systems and Robotics Reviewer for International Journal of Advanced Robotics Systems Reviewer for IEEE Transactions on Control Systems

I n v i t e d T a l k s

05/09/2015 Zurich, Switzerland

Scientifica 2015 “Unmanned Solair Aircrafts” (German)

08/10/2015, Sao Paolo, Brazil

DroneShow Latin America 2015 “3D Reconstruction with AtlantikSolar”

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S u p e r v i s e d S t u d e n t P r o j e c t s

S.25 Deep Learning Enhanced Human Detection using RGB and Infrared Imagery onboard of Fixed-Wing UAVs Adrian Ruckli, Alberto Pennino (Course: PLR), 2018 Supervised by: Timo Hinzmann, Cesar Cadena

S.24 Optimal Pose Selection for Aerial Dense Reconstruction and Localization Andreea Lutac (Master Thesis), 2018 Supervised by: Timo Hinzmann, Rik Bähnemann

S.23 Deep Learning Enhanced Human Detection and Tracking using RGB and Infrared Imagery onboard of Fixed-Wing UAVs Tobias Stegemann (Master Thesis), 2018 Supervised by: Timo Hinzmann, Cesar Cadena

S.22 Robust Multirotor Precision Landing in Outdoor Environment Daniel Hentzen (Master Thesis), 2018 Supervised by: Roland Brockers (JPL), Thomas Stastny, Timo Hinzmann

S.21 Constrained, Non-rigid, Wide-baseline Stereo Vision for Fixed-wing Aerial Platforms II Balazs Nagy (Semester Project), 2018 Supervised by: Timo Hinzmann

S.20 Closed-Loop Multi-Sensor SLAM for Fixed-Wing UAVs Adam Radomski (Master Thesis), 2017 Supervised by: Timo Hinzmann, Thomas Schneider

S.19 High-quality Ground-Truth Generation for Fixed-Wing UAVs Rudolf Metzler (Interdisciplinary Semester Project), 2017 Supervised by: Guillaume Sébastien (ETHZ, IGP), Timo Hinzmann

S.18 Long Range Landmark Observations and their Influence on the Convergence of Bundle-Adjustment Problems Jingwei Tang (Seminar), 2017 Supervised by: Timo Hinzmann

S.17 Mutual-Information-Based Direct Visual-Inertial Odometry Jingwei Tang (Semester Project), 2017 Supervised by: Timo Hinzmann

S.16 Multi-Sensor Multi-State Constraint Kalman Filter for Fixed-Wing UAVs Patrik Frey (Semester Project), 2017 Supervised by: Timo Hinzmann

S.15 Constrained, Non-rigid, Wide-baseline Stereo Vision for Fixed-wing Aerial Platforms Tim Taubner (Semester Project), 2017 Supervised by: Timo Hinzmann, Thomas Stastny

S.14 Autonomous Rotorcraft Landing with Structured Light Stereo Vision Marius Huber (Master Thesis), 2017 Supervised by: Larry Matthies (JPL), Roland Brockers (JPL), Timo Hinzmann, Thomas Stastny

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S.13 Guidance, Navigation, Control and Mission Logic for Quadrotor Full-cycle Autonomy Danylo Malyuta (Master Thesis), 2017 Supervised by: Roland Brockers (JPL), Thomas Stastny, Timo Hinzmann

S.12 Design of a Radar System for Sense and Avoid Applications Ryen Elith (Master Thesis), 2017 Supervised by: Amir Melzer, Timo Hinzmann

S.11 GNSS-Based Attitude Determination for Automatic Magnetometer Calibration Ricardo Zurfluh (Master Thesis), 2016 Supervised by: Timo Hinzmann, Amir Melzer

S.10 Real-time Detection and Tracking of Multiple Human Targets from Aerial Vehicles Using Thermal Imagery Julius Kümmerle (Master Thesis), 2016 Supervised by: Timo Hinzmann, Anurag Vempati

S.09 Thermal Updraft Prediction for a Fixed-Wing UAVs Bastien Chatton (Master Thesis), 2016 Philipp Oettershagen, Timo Hinzmann

S.08 Ridge Lift Exploitation for Small Unmanned Fixed-Wing Aircraft Nicolas El Hayek (Master Thesis), 2016 Supervised by: Thomas Stastny, Philipp Oettershagen, Timo Hinzmann

S.07 Robust and Efficient Loop-Closure Detection for Aerial Images Mathia Gehrig (Master Thesis), 2016 Supervised by: Timo Hinzmann, Elena Stumm

S.06 Development of a Comprehensive, Hardware-in-the-Loop Simulation Environment for Fixed-Wing UAVs Pavel Vechersky (Master Thesis), 2016 Supervised by: Timo Hinzmann, Thomas Stastny, Philipp Oettershagen

S.05 Robust Vision-Based Localization for Fixed-Wing UAVs Laurent Braun (Bachelor Thesis), 2016 Supervised by: Timo Hinzmann

S.04 Tightly Coupled GNSS Integration into a SLAM Framework Andreas Forster (Master Thesis), 2016 Supervised by: Timo Hinzmann, Amir Melzer

S.03 Vision-Based Autonomous Landing of an Unmanned Fixed-Wing UAV Felix Renaut (Master Thesis), 2015 Supervised by: Timo Hinzmann, Thomas Stastny

S.02 Demonstration of Visual Navigation with Fixed-Wing UAVs Andreas Schaffner (Master Thesis), 2015 Supervised by: Timo Hinzmann, Gabriel Agamennoni, Tim Dawson-Townsend (Aurora)

S.01 Control of a Wall Racing Robot for Agile Ground Maneuvers Michael Arigoni (Bachelor Thesis/ Focus Project), 2015 Supervised by: Timo Hinzmann, Lennon Rodgers (MIT)

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P u b l i c a t i o n s : J o u r n a l

J.03 Timo Hinzmann, Thomas Stastny, Cesar Cadena Lerma, Roland Siegwart, and Igor Gilitschenski, "Free LSD: Prior-Free Visual Landing Site Detection for Autonomous Planes", In IEEE Robotics and Automation Letters (RA-L), 2018, Brisbane, Australia.

J.02 Philipp Oettershagen, Thomas Stastny, Timo Hinzmann, Konrad Rudin, Thomas Mantel, Amir Melzer, Bartosz Wawrzacz, Gregory Hitz, and Roland Siegwart, "Robotic technologies for solar-powered UAVs: Fully autonomous updraft-aware aerial sensing for multiday search-and-rescue missions". In Journal of Field Robotics (JFR), 2017.

J.01 Philipp Oettershagen, Amir Melzer, Thomas Mantel, Konrad Rudin, Thomas Stastny, Bartosz Wawrzacz, Timo Hinzmann, Stefan Leutenegger, Kostas Alexis, and Roland Siegwart, "Design of small hand-launched solar-powered UAVs: From concept study to a multi-day world endurance record flight". In Journal of Field Robotics (JFR), 2017.

P u b l i c a t i o n s : C o n f e r e n c e

C.12 Timo Hinzmann, Tim Taubner, and Roland Siegwart, "Flexible Stereo: Constrained, Non-rigid, Wide-baseline Stereo Vision for Fixed-wing Aerial Platforms", In IEEE International Conference on Robotics and Automation (ICRA), 2018, Brisbane, Australia. 40.6% acceptance rate.

C.11 Ruben Mascaro, Lucas Teixeira, Timo Hinzmann, Roland Siegwart, and Margarita Chli, "Graph-Optimization Based Multi-Sensor Fusion for Robust UAV Pose Estimation", In IEEE International Conference on Robotics and Automation (ICRA), 2018, Brisbane, Australia. 40.6% acceptance rate.

C.10 Marius Huber, Timo Hinzmann, Roland Siegwart, and Larry Matthies, "Cubic Range Error Model for Stereo Vision with Illuminators", In IEEE International Conference on Robotics and Automation (ICRA), 2018, Brisbane, Australia. 40.6% acceptance rate.

C.09 Timo Hinzmann, Johannes Schönberger, Marc Pollefeys, and Roland Siegwart, "Mapping on the Fly: Real-Time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Unmanned Aerial Vehicles". In 11th Conference on Field and Service Robotics (FSR), 2017, Zurich, Switzerland.

C.08 Mathias Gehrig, Elena Stumm, Timo Hinzmann, and Roland Siegwart, "Visual Place Recognition with Probabilistic Vertex Voting". In International Conference on Robotics and Automation (ICRA), 2017, Singapore.

C.07 Timo Hinzmann, Thomas Schneider, Marcin Dymczyk, Andreas Schaffner, Simon Lynen, Roland Siegwart, and Igor Gilitschenski, "Monocular Visual-Inertial SLAM for Fixed-Wing UAVs Using Sliding Window Based Nonlinear Optimization". In International Symposium on Visual Computing (ISVC), 2016, Las Vegas, USA.

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C.06 Julius Kümmerle, Timo Hinzmann, Anurag Vempati, and Roland Siegwart, "Real-Time Detection and Tracking of Multiple Humans from High Bird’s-Eye Views in the Visual and Infrared Spectrum". In International Symposium on Visual Computing (ISVC), 2016, Las Vegas, USA

C.05 Timo Hinzmann, Thomas Schneider, Marcin Tomasz Dymczyk, Amir Melzer, Thomas Mantel, Igor Gilitschenski, and Roland Siegwart, "Robust Map Generation for Fixed-Wing UAVs with Low-Cost Highly-Oblique Monocular Cameras". In International Conference on Intelligent Robots and Systems (IROS), 2016, Daejeon, South Korea. 48% acceptance rate.

C.04 Patrick Doherty, Jonas Kvarnström, Piotr Rudol, Marius Wzorek, Gianpaolo Conte, Cyrille Berger, Timo Hinzmann, and Thomas Stastny, "A Collaborative Framework for 3D Mapping using Unmanned Aerial Vehicles". In International Conference on Principles and Practice of Multi-agent Systems (PRIMA), 2016, Phuket, Thailand.

C.03 Philipp Oettershagen, Amir Melzer, Thomas Mantel, Konrad Rudin, Thomas Stastny, Bartosz Wawrzacz, Timo Hinzmann, Kostas Alexis, and Roland Siegwart, "Perpetual flight with a small solar-powered UAV: Flight results, performance analysis and model validation". In IEEE Aerospace Conference, 2016, Zurich, Switzerland.

C.02 Timo Hinzmann, Thomas Stastny, Gianpaolo Conte, Patrick Doherty, Piotr Rudol, Marius Wzorek, Igor Gilitschenski, Enric Galceran, and Roland Siegwart, "Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments". In International Symposium on Experimental Robotics (ISER), 2016, Tokyo, Japan.

C.01 Jörn Rehder, Janosch Nikolic, Thomas Schneider, Timo Hinzmann, and Roland Siegwart, "Extending kalibr: Calibrating the Extrinsics of Multiple IMUs and of Individual Axes". In IEEE International Conference on Robotics and Automation (ICRA), 2016, Stockholm, Sweden. 34.7% acceptance rate.

D i s s e r t a t i o n s

D.03 Timo Hinzmann, "Robust Vision-Based Navigation for Micro Air Vehicles". Master Thesis, 2014, Pasadena, USA, Jet Propulsion Laboratory (JPL/NASA), clearance no. CL#15-1078.

D.02 Timo Hinzmann, "Adaptive Rate Control for Multirotor UAVs". Semester Thesis, 2014, Zurich, Switzerland, Autonomous Systems Lab (ASL), ETH Zurich (ETHZ).

D.01 Timo Hinzmann, "Pfadplanung in Innenräumen und Integration in eine Simulationsumgebung für autonome Bodenfahrzeuge". Bachelor Thesis, 2011, Karlsruhe, Germany, Institute of Systems Optimization (ITE), Karlsruhe Institute of Technology (KIT).