picture Aspirant of the Research Foundation - Flanders (FWO-Vlaanderen)
Mech. Eng. Dept. - Katholieke Universiteit Leuven, Belgium


Mailing address
postbusnr.: 2420
Mechanical Engineering Department - PMA Division
Katholieke Universiteit Leuven
Celestijnenlaan 300B
B-3001 Leuven, Belgium

Contact info
Phone: ++32 16 32 80 57
Office: 01.053


My research focuses to Rigorously Bayesian Multitarget Tracking and Localization. The goal of the research is to approach the problem of multitarget tracking and localization in a consistent rigorously Bayesian manner. The work focuses on both the development of a fully Bayesian range scanner measurement model, suited for multitarget tracking and localization and the analysis and development of probabilistic multitarget tracking and localization methods. The Bayesian approach reveals underlying assumptions and approximations by explicitly encoding them in the prior probabilities. Other research interest include: task specification and human motion estimation (see journal publications).

Furthermore, I have been doing research on the geometric relations between rigid bodies and how to describe them semantically.
Rigid bodies are essential primitives in the modelling of robotic devices, tasks and perception, starting with the basic geometric relations such as relative position, orientation, pose, linear velocity, angular velocity, and twist. In our reserach we explicitly state the semantics of all coordinate-invariant properties and operations, and, more importantly, all the choices that are made in coordinate representations of these geometric relations. This results in a set of concrete suggestions for standardizing terminology and notation, allowing programmers to write fully unambiguous software interfaces, including automatic checks for semantic correctness of all geometric operations on rigid-body coordinate representations.


An up-to-date and detailed overview of my publications can be found here.

Journal papers


  • Image-Based Visual Servoing with Extra Task Related Constraints in a General Framework for Sensor-Based Robot Systems; Ruben Smits, Duccio Fioravanti, Tinne De Laet, Benedetto Allotta, Herman Bruyninckx, Joris De Schutter; Published in Unifying Perspectives in Computational and Robot Vision (Springer), Lecture notes in Electrical Engineering , pp 187-204;



Curriculum Vitae

Personal Stuff

  • Lute-stuff
    • Since 2002, I play the lute. I own a 10 course lute made by Barber.
  • Other stuff: