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Ivan Petrović - IEEE Xplore Author Profile
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Ivan Petrović

Also published under: Ivan Petrovic, I. Petrovic, Ivan Petrovi&#x0107;, Ivan Retrović, I. Petrović

Publications
108
Citations
1,368
Publications by Year
19982025
Co-Authors:
Show All Co-Authors (114)
Image of author Ivan Petrović

Ivan Petrović

Also published under: Ivan Petrovic, I. Petrovic, Ivan Petrovi&#x0107;, Ivan Retrović, I. Petrović

Affiliation

Faculty of Electrical Engineering and Computing
Laboratory for Autonomous Systems and Mobile Robotics
University of Zagreb, Zagreb, Croatia

Publication Topics

Biography

Ivan Petrović received the Master of Science and Ph.D. degrees in electrical engineering from the Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia, in 1990 and 1998, respectively.,He is currently a Professor and the Head of the Laboratory for Autonomous Systems and Mobile Robotics, Faculty of Electrical Engineering and Computing, University of Zagreb. He has authored or coauthored about 60 journal and 200 conference papers. His current research interests include advanced control and estimation techniques and their application in autonomous systems and robotics.,Dr. Petrović is a Full Member of the Croatian Academy of Engineering and the Chair of the Technical Committee on Robotics of the International F...
Publications
108
Citations
1,368
Publications by Year
19982025
Co-Authors:
Show All Co-Authors (114)
Author's Published Works

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Multiscale and Uncertainty-Aware Targetless Hand-Eye Calibration via the Gauss–Helmert Model

Marta Čolaković-Bencerić;Juraj Peršić;Ivan Marković;Ivan Petrović

IEEE Transactions on Robotics
Year: 2025 | Volume: 41 | Journal Article |
The operational reliability of an autonomous robot depends crucially on extrinsic sensor calibration as a prerequisite for precise and accurate data fusion. Exploring the calibration of unscaled sensors (e.g., monocular cameras) and the effective utilization of uncertainties are difficult and often overlooked. The development of a solution for the simultaneous calibration of hand-eye sensors and s...Show More

Multiscale and Uncertainty-Aware Targetless Hand-Eye Calibration via the Gauss–Helmert Model

Marta Čolaković-Bencerić;Juraj Peršić;Ivan Marković;Ivan Petrović

Year: 2025 | Volume: 41 | Journal Article |

Generative Graphical Inverse Kinematics

Oliver Limoyo;Filip Marić;Matthew Giamou;Petra Alexson;Ivan Petrović;Jonathan Kelly

IEEE Transactions on Robotics
Year: 2025 | Volume: 41 | Journal Article |
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable but typically only produce a single solution and rely on local search techniques to minimize nonconvex objective functions. Recent learning-based approaches that approximate the entire feasible set of solutions have sho...Show More

Generative Graphical Inverse Kinematics

Oliver Limoyo;Filip Marić;Matthew Giamou;Petra Alexson;Ivan Petrović;Jonathan Kelly

Year: 2025 | Volume: 41 | Journal Article |

RAVE: A Framework for Radar Ego-Velocity Estimation

Vlaho-Josip Štironja;Luka Petrović;Juraj Peršić;Ivan Marković;Ivan Petrović

2024 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)
Year: 2024 | Conference Paper |
Cited by: Papers (1)
State estimation is an essential component of autonomous systems, usually relying on sensor fusion that integrates data from cameras, LiDARs and IMUs. Recently, radars have shown the potential to improve the accuracy and robustness of state estimation and perception, especially in challenging environmental conditions such as adverse weather and low-light scenarios. In this paper, we present a fram...Show More

RAVE: A Framework for Radar Ego-Velocity Estimation

Vlaho-Josip Štironja;Luka Petrović;Juraj Peršić;Ivan Marković;Ivan Petrović

Year: 2024 | Conference Paper |

GISR: Geometric Initialization and Silhouette-Based Refinement for Single-View Robot Pose and Configuration Estimation

Ivan Bilić;Filip Marić;Fabio Bonsignorio;Ivan Petrović

IEEE Robotics and Automation Letters
Year: 2024 | Volume: 9, Issue: 11 | Journal Article |
In autonomous robotics, measurement of the robot's internal state and perception of its environment, including interaction with other agents such as collaborative robots, are essential. Estimating the pose of the robot arm from a single view has the potential to replace classical eye-to-hand calibration approaches and is particularly attractive for online estimation and dynamic environments. In ad...Show More

GISR: Geometric Initialization and Silhouette-Based Refinement for Single-View Robot Pose and Configuration Estimation

Ivan Bilić;Filip Marić;Fabio Bonsignorio;Ivan Petrović

Year: 2024 | Volume: 9, Issue: 11 | Journal Article |

Towards Camera Parameters Invariant Monocular Depth Estimation in Autonomous Driving

Karlo Koledić;Ivan Marković;Ivan Petrović

2023 European Conference on Mobile Robots (ECMR)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
Monocular depth estimation is an effective approach to environment perception due to simplicity of the sensor setup and absence of multisensor calibration. Deep learning has enabled accurate depth estimation from a single image by exploiting semantic cues such as the sizes of known objects and positions on the ground plane thereof. However, learning-based methods frequently fail to generalize on i...Show More

Towards Camera Parameters Invariant Monocular Depth Estimation in Autonomous Driving

Karlo Koledić;Ivan Marković;Ivan Petrović

Year: 2023 | Conference Paper |

Stereo Visual Localization Dataset Featuring Event Cameras

Antea Hadviger;Vlaho-Josip Štironja;Igor Cvišić;Ivan Marković;Sacha Vražić;Ivan Petrović

2023 European Conference on Mobile Robots (ECMR)
Year: 2023 | Conference Paper |
Cited by: Papers (3)
Visual odometry and SLAM methods are facing increasingly complex scenarios and novel solutions are needed to offer more accurate and reliable results in challenging environments. Standard cameras are challenged under low light conditions or very high-speed motion, as they suffer from motion blur and operate at a limited frame rate. These problems can be alleviated by using event cameras - asynchro...Show More

Stereo Visual Localization Dataset Featuring Event Cameras

Antea Hadviger;Vlaho-Josip Štironja;Igor Cvišić;Ivan Marković;Sacha Vražić;Ivan Petrović

Year: 2023 | Conference Paper |

MOFT: Monocular odometry based on deep depth and careful feature selection and tracking

Karlo Koledić;Igor Cvišić;Ivan Marković;Ivan Petrović

2023 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2023 | Conference Paper |
Cited by: Papers (4)
Autonomous localization in unknown environments is a fundamental problem in many emerging fields and the monocular visual approach offers many advantages, due to being a rich source of information and avoiding comparatively more complicated setups and multisensor calibration. Deep learning opened new venues for monocular odometry yielding not only end-to-end approaches but also hybrid methods comb...Show More

MOFT: Monocular odometry based on deep depth and careful feature selection and tracking

Karlo Koledić;Igor Cvišić;Ivan Marković;Ivan Petrović

Year: 2023 | Conference Paper |

SOFT2: Stereo Visual Odometry for Road Vehicles Based on a Point-to-Epipolar-Line Metric

Igor Cvišić;Ivan Marković;Ivan Petrović

IEEE Transactions on Robotics
Year: 2023 | Volume: 39, Issue: 1 | Journal Article |
Cited by: Papers (31)
Accurate localization constitutes a fundamental building block of any autonomous system. In this article, we focus on stereo cameras and present a novel approach, dubbed SOFT2, that is currently the highest-ranking algorithm on the KITTI scoreboard. SOFT2 relies on the constraints imposed by the epipolar geometry and kinematics, i.e., it is developed for configurations that cannot exhibit pure rot...Show More

SOFT2: Stereo Visual Odometry for Road Vehicles Based on a Point-to-Epipolar-Line Metric

Igor Cvišić;Ivan Marković;Ivan Petrović

Year: 2023 | Volume: 39, Issue: 1 | Journal Article |

Mixtures of Gaussian Processes for Robot Motion Planning Using Stochastic Trajectory Optimization

Luka Petrović;Ivan Marković;Ivan Petrović

IEEE Transactions on Systems, Man, and Cybernetics: Systems
Year: 2022 | Volume: 52, Issue: 12 | Journal Article |
Cited by: Papers (10)
Robot motion planning methods based on trajectory optimization can efficiently generate feasible and optimal trajectories by minimizing a suitable cost function, even in high-dimensional spaces. However, the main drawback of these methods lies in their proneness to infeasible local minima, especially in complex environments. To mitigate this issue, we propose a novel motion planning method that re...Show More

Mixtures of Gaussian Processes for Robot Motion Planning Using Stochastic Trajectory Optimization

Luka Petrović;Ivan Marković;Ivan Petrović

Year: 2022 | Volume: 52, Issue: 12 | Journal Article |

Convex Iteration for Distance-Geometric Inverse Kinematics

Matthew Giamou;Filip Marić;David M. Rosen;Valentin Peretroukhin;Nicholas Roy;Ivan Petrović;Jonathan Kelly

IEEE Robotics and Automation Letters
Year: 2022 | Volume: 7, Issue: 2 | Journal Article |
Cited by: Papers (14)
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundant degrees of freedom, there is often an infinite, nonconvex set of solutions. The IK problem is further complicated when collision avoidance constraints are imposed by obstacles in the workspace. In general, closed-form ...Show More

Convex Iteration for Distance-Geometric Inverse Kinematics

Matthew Giamou;Filip Marić;David M. Rosen;Valentin Peretroukhin;Nicholas Roy;Ivan Petrović;Jonathan Kelly

Year: 2022 | Volume: 7, Issue: 2 | Journal Article |

Riemannian Optimization for Distance-Geometric Inverse Kinematics

Filip Marić;Matthew Giamou;Adam W. Hall;Soroush Khoubyarian;Ivan Petrović;Jonathan Kelly

IEEE Transactions on Robotics
Year: 2022 | Volume: 38, Issue: 3 | Journal Article |
Cited by: Papers (24)
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parameterized by joint angles, generating a complicated mapping between the robot configuration and the end-effector pose. Alternatively, the kinematic model and task constraints can be represented using invariant dis...Show More

Riemannian Optimization for Distance-Geometric Inverse Kinematics

Filip Marić;Matthew Giamou;Adam W. Hall;Soroush Khoubyarian;Ivan Petrović;Jonathan Kelly

Year: 2022 | Volume: 38, Issue: 3 | Journal Article |

Human Localization in Warehouse Environments based on a Wearable Camera Sensor Suite and Dynamic Ultra-Wide Band Nodes

Goran Popović;Igor Cviić;Ivan Marković;Ivan Petrović

2021 20th International Conference on Advanced Robotics (ICAR)
Year: 2021 | Conference Paper |
Cited by: Papers (3)
Modern warehouses, equipped with an autonomous robots fleet, suffer from an efficiency deficit during human interventions in the shop floor area, since, during such interventions, all the robots must stop for safety reasons. This particularly affects large warehouses which could extremely benefit from a solution that would allow human-robot collaboration during such interventions. This solution sh...Show More

Human Localization in Warehouse Environments based on a Wearable Camera Sensor Suite and Dynamic Ultra-Wide Band Nodes

Goran Popović;Igor Cviić;Ivan Marković;Ivan Petrović

Year: 2021 | Conference Paper |

Trajectory Optimization with Geometry-Aware Singularity Avoidance for Robot Motion Planning

Luka Petrović;Filip Marić;Ivan Marković;Jonathan Kelly;Ivan Petrović

2021 21st International Conference on Control, Automation and Systems (ICCAS)
Year: 2021 | Conference Paper |
Cited by: Papers (1)
One of the principal challenges in motion planning for robotic arms is to ensure agility in the case of encountering unforeseeable changes during task execution. It is thus crucial to preserve the ability to move in every direction in task space, which is achieved by avoiding singularities, i.e., states of configuration space where degrees of freedom are lost. To aid in singularity avoidance, exis...Show More

Trajectory Optimization with Geometry-Aware Singularity Avoidance for Robot Motion Planning

Luka Petrović;Filip Marić;Ivan Marković;Jonathan Kelly;Ivan Petrović

Year: 2021 | Conference Paper |

A Comparison of Graph Optimization Approaches for Pose Estimation in SLAM

Anđela Jurić;Filip Kendeš;Ivan Marković;Ivan Petrović

2021 44th International Convention on Information, Communication and Electronic Technology (MIPRO)
Year: 2021 | Conference Paper |
Cited by: Papers (14)
Simultaneous localization and mapping (SLAM) is an important tool that enables autonomous navigation of mobile robots through unknown environments. As the name SLAM suggests, it is important to obtain a correct representation of the environment and estimate a correct trajectory of the robot poses in the map. Dominant state-of-the-art approaches solve the pose estimation problem using graph optimiz...Show More

A Comparison of Graph Optimization Approaches for Pose Estimation in SLAM

Anđela Jurić;Filip Kendeš;Ivan Marković;Ivan Petrović

Year: 2021 | Conference Paper |

Depth from Mono Accuracy Analysis by Changing Camera Parameters in the CARLA Simulator

Zvonimir Gršković;Juraj Peršić;Ivan Marković;Ivan Petrović

2021 44th International Convention on Information, Communication and Electronic Technology (MIPRO)
Year: 2021 | Conference Paper |
Depth estimation is an important task in robotics and autonomous driving. By estimating depth and relying only on a single camera, it is no longer necessary to add and calibrate additional sensors - usually a second camera. However, such an approach requires training on extensive datasets and obtaining real-world datasets is time consuming and costly. Given that, using photorealistic simulators ca...Show More

Depth from Mono Accuracy Analysis by Changing Camera Parameters in the CARLA Simulator

Zvonimir Gršković;Juraj Peršić;Ivan Marković;Ivan Petrović

Year: 2021 | Conference Paper |

Mobile Robot Teleoperation via Android Mobile Device with UDP Communication

Emilia Szymańska;Luka Petrović;Ivan Marković;Ivan Petrović

2021 44th International Convention on Information, Communication and Electronic Technology (MIPRO)
Year: 2021 | Conference Paper |
Cited by: Papers (4)
Teleoperation is an essential component of a robotic system utilized for execution of various remote tasks, e.g. telepresence, reconnaissance or search and rescue. In this paper we investigate the usage of User Datagram Protocol (UDP) for two-way communication between an Android mobile device and Robot Operating System (ROS). UDP offers simplified and connectionless communication, which allows hig...Show More

Mobile Robot Teleoperation via Android Mobile Device with UDP Communication

Emilia Szymańska;Luka Petrović;Ivan Marković;Ivan Petrović

Year: 2021 | Conference Paper |

Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing

Vicko Prkačin;Ivana Palunko;Ivan Petrović

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
Year: 2021 | Conference Paper |
Cited by: Papers (2)
In this paper we consider an aerial vehicle transporting a suspended payload and propose an Extended Kalman filter for payload state estimation. The filter is based on derived system dynamics and relies solely on onboard IMU measurements. Effectiveness of the method is verified in numerical simulations and experimentally.Show More

Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing

Vicko Prkačin;Ivana Palunko;Ivan Petrović

Year: 2021 | Conference Paper |

Feature-based Event Stereo Visual Odometry

Antea Hadviger;Igor Cvišić;Ivan Marković;Sacha Vražić;Ivan Petrović

2021 European Conference on Mobile Robots (ECMR)
Year: 2021 | Conference Paper |
Cited by: Papers (12)
Event-based cameras are biologically inspired sensors that output events, i.e., asynchronous pixel-wise brightness changes in the scene. Their high dynamic range and temporal resolution of a microsecond makes them more reliable than standard cameras in environments of challenging illumination and in high-speed scenarios, thus developing odometry algorithms based solely on event cameras offers exci...Show More

Feature-based Event Stereo Visual Odometry

Antea Hadviger;Igor Cvišić;Ivan Marković;Sacha Vražić;Ivan Petrović

Year: 2021 | Conference Paper |

Recalibrating the KITTI Dataset Camera Setup for Improved Odometry Accuracy

Igor Cvišić;Ivan Marković;Ivan Petrović

2021 European Conference on Mobile Robots (ECMR)
Year: 2021 | Conference Paper |
Cited by: Papers (12)
Over the last decade, one of the most relevant public datasets for evaluating odometry accuracy is the KITTI dataset. Beside the quality and rich sensor setup, its success is also due to the online evaluation tool, which enables researchers to bench-mark and compare algorithms. The results are evaluated on the test subset solely, without any knowledge about the ground truth, yielding unbiased, ove...Show More

Recalibrating the KITTI Dataset Camera Setup for Improved Odometry Accuracy

Igor Cvišić;Ivan Marković;Ivan Petrović

Year: 2021 | Conference Paper |

A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration

Emmett Wise;Juraj Peršić;Christopher Grebe;Ivan Petrović;Jonathan Kelly

2021 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2021 | Conference Paper |
Cited by: Papers (19)
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather robust sensors, such as millimetre-wavelength radar. Critically, accurate sensor data fusion requires knowledge of the rigidbody transform between sensor pairs, whic...Show More

A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration

Emmett Wise;Juraj Peršić;Christopher Grebe;Ivan Petrović;Jonathan Kelly

Year: 2021 | Conference Paper |

Multi-Target Tracking on Riemannian Manifolds via Probabilistic Data Association

Borna Bićanić;Ivan Marković;Ivan Petrović

IEEE Signal Processing Letters
Year: 2021 | Volume: 28 | Journal Article |
Cited by: Papers (4)
Riemannian manifolds are attracting much interest in various technical disciplines, since generated data can often be naturally represented as points on a Riemannian manifold. Due to the non-Euclidean geometry of such manifolds, usual Euclidean methods yield inferior results, thus motivating development of tools adapted or specially tailored to the true underlying geometry. In this letter we propo...Show More

Multi-Target Tracking on Riemannian Manifolds via Probabilistic Data Association

Borna Bićanić;Ivan Marković;Ivan Petrović

Year: 2021 | Volume: 28 | Journal Article |

Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking

Juraj Peršić;Luka Petrović;Ivan Marković;Ivan Petrović

IEEE Transactions on Robotics
Year: 2021 | Volume: 37, Issue: 5 | Journal Article |
Cited by: Papers (29)
Robust and reliable perception of autonomous systems often relies on fusion of heterogeneous sensors, which poses great challenges for multisensor calibration. In this article, we propose a method for multisensor calibration based on Gaussian processes (GPs) estimated moving target trajectories, resulting with spatiotemporal calibration. Unlike competing approaches, the proposed method is characte...Show More

Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking

Juraj Peršić;Luka Petrović;Ivan Marković;Ivan Petrović

Year: 2021 | Volume: 37, Issue: 5 | Journal Article |

Drivable Path Planning Using Hybrid Search Algorithm Based on E* and Bernstein–Bézier Motion Primitives

Gregor Klančar;Marija Seder;Sašo Blažič;Igor Škrjanc;Ivan Petrović

IEEE Transactions on Systems, Man, and Cybernetics: Systems
Year: 2021 | Volume: 51, Issue: 8 | Journal Article |
Cited by: Papers (16)
This article proposes a hybrid path-planning algorithm, the HE* algorithm, which combines the discrete grid-based E* search and continuous Bernstein–Bézier (BB) motion primitives. Several researchers have addressed the smooth path planning problem and the sample-based integrated path planning techniques. We believe that the main benefits of the proposed approach are: directly drivable path, no add...Show More

Drivable Path Planning Using Hybrid Search Algorithm Based on E* and Bernstein–Bézier Motion Primitives

Gregor Klančar;Marija Seder;Sašo Blažič;Igor Škrjanc;Ivan Petrović

Year: 2021 | Volume: 51, Issue: 8 | Journal Article |

State and parameter estimation of suspended load using quadrotor onboard sensors

Vicko Prkačin;Ivana Palunko;Ivan Petrović

2020 International Conference on Unmanned Aircraft Systems (ICUAS)
Year: 2020 | Conference Paper |
Cited by: Papers (8)
In this paper, we address the problem of state and parameter estimation of a suspended load using quadrotor onboard sensors. Flying with a suspended load alters the quadrotor flight dynamics, sometimes to a large extent, making it a challenging and hazardous task. Monitoring the state of the suspended load is vital for safe flight operations while parameter estimation decouples the control design ...Show More

State and parameter estimation of suspended load using quadrotor onboard sensors

Vicko Prkačin;Ivana Palunko;Ivan Petrović

Year: 2020 | Conference Paper |

Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization

Filip Marić;Matthew Giamou;Soroush Khoubyarian;Ivan Petrović;Jonathan Kelly

2020 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2020 | Conference Paper |
Cited by: Papers (7)
Inverse kinematics is a fundamental challenge for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for serial kinematic chains is a difficult nonlinear problem, for which closed form solutions cannot easily be obtained. Therefore, computationally efficient nume...Show More

Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization

Filip Marić;Matthew Giamou;Soroush Khoubyarian;Ivan Petrović;Jonathan Kelly

Year: 2020 | Conference Paper |

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