About me

I'm a PhD student at the Royal Institute of Technology (KTH), Stockholm, Sweden, supervised by Prof. Patric Jensfelt and Prof. John Folkesson, working in the Computer Vision and Active Perception research group. My research interests include long-term mapping (typically weeks or months), object detection and machine learning. Prior to my PhD I worked on virtual/augmented reality and autonomous cars.

From June - November 2016 I am doing an internship at Robert Bosch North America working on the semantic segmentation of large point clouds.

Contact Details

Rares Ambrus
Robotics Perception and Learning (RPL) KTH,
Room 609, Teknikringen 14,
SE-100 44, Stockholm, Sweden



Royal Institute of Technology (KTH), Sweden

PhD. student in the Robotics Perception and Learning group June 2013 - Dec 2017

Jacobs University Bremen, Germany

MSc, Smart Systems (Robotics) Sep 2006 - Aug 2008

Jacobs University Bremen, Germany

BSc, Electrical Engineering and Computer Science Sep 2003 - Jun 2006


Toyota Research Institute - California, USA

Machine Learning Research Scientist Jan 2018 - Present

Research Scientist in the Machine Learning group at TRI working on deep learning for robotic perception, including self-supervised learning for depth and ego-motion prediction, 2D/3D object detection and semantic segmentation.

Robert Bosch LLC, Research and Technology Center North America - California, USA

Robotics research intern Jun 2016 - Nov 2016

Intern in the Robotics research group, working on the semantic segmentation of indoor point clouds (room level segmentation as well as semantic labeling).

Hi-Tech Robotic Systemz Ltd - Gurgaon, India

Project manager Sep 2010 - May 2013

Project manager in the Defence Robotics group. The work covers the complete project life - cycle, starting from proposal to requirements, planning, tracking, development and delivery, both for internally funded prototypes and for client-driven custom solutions.

Space Applications Services NV/SA - Zaventem, Belgium

Systems and Robotics Engineer Sep 2008 - Aug 2010

Worked in the Ground Segments and Systems Group assigned to various context and location sensitive Augmented Reality projects (AR) for the European Space Agency (ESA), notably WEarable Augmented Reality (WEAR) and Portable Virtual Assembly Integration Testing Visualizer (PVAITV).

The Connexions Project, Rice University - Texas, USA

Intern Jun 2005 - Aug 2005

Internship on the Semantic TeX package. Goal: implementing a converter from LaTeX to CNXML using the Semantic TeX package. Area of work: Defining and implementing new macros for the STeX package.




PackNet-SfM: 3D Packing for Self-Supervised Monocular Depth Estimation

Vitor Guizilini*, Rares Ambrus*, Sudeep Pillai*, Adrien Gaidon
Submitted, 2018
*authors contributed equally

SuperDepth: Self-Supervised, Super-Resolved Monocular Depth Estimation

Sudeep Pillai, Rares Ambrus, Adrien Gaidon
International Conference on Robotics and Automation, IEEE, 2019


Intelligent Robotic Perception Systems

Cristiano Premebida, Rares Ambrus, Zoltan-Csaba Marton
Applications of Mobile Robots, Efren Gorrostieta Hurtado, IntechOpen

Semantic Labeling of Indoor Environments from 3D RGB Maps

Maximilian Durner*, Manuel Brucker*, Rares Ambrus*, Zoltan Csaba Marton,
Axel Wendt, Patric Jensfelt, Kai Arras, Rudolph Triebel
International Conference on Robotics and Automation, IEEE, 2018
*these authors contributed equally


On the use of Unmanned Aerial Vehicles for Autonomous Object Modeling

Michael C. Welle, Ludvig Ericson, Rares Ambrus, Patric Jensfelt
European Conference on Mobile Robotics (ECMR), 2017

Team KTH’s Picking Solution for the Amazon Picking Challenge 2016

Diogo Almeida, Rares Ambrus, Sergio Caccamo, Xi Chen, Silvia Cruciani, Joao F. Pinto B. De Carvalho, Joshua Haustein, Alejandro Marzinotto, Francisco E. Vina B., Yiannis Karayiannidis, Petter Ogren, Patric Jensfelt and Danica Kragic
ICRA Workshop: Warehouse Picking Automation, IEEE, 2017

Autonomous meshing, texturing and recognition of object models with a mobile robot

Rares Ambrus, Nils Bore, John Folkesson, Patric Jensfelt
International Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ, 2017

The STRANDS Project: Long-Term Autonomy in Everyday Environments

Nick Hawes, Christopher Burbridge, Ferdian Jovan, Lars Kunze, Bruno Lacerda, Lenka Mudrova, Jay Young, Jeremy Wyatt, Denise Hebesberger, Tobias Körtner, Rares Ambrus, Nils Bore, John Folkesson, Patric Jensfelt, Lucas Beyer, Alexander Hermans, Bastian Leibe, Aitor Aldoma, Thomas Fäulhammer, Michael Zillich, Markus Vincze, Muhannad Al-Omari, Eris Chinellato, Paul Duckworth, Yiannis Gatsoulis, David Hogg, Anthony Cohn, Christian Dondrup, Jaime Pulido Fentanes, Tomáš Krajník, João Machado Santos, Tom Duckett, Marc Hanheide
(to appear) Robotics and Automation Magazine (RAM), IEEE, 2017
READ MORE     Bibtex

Automatic Room Segmentation from Unstructured 3D Data of Indoor Environments

Rares Ambrus*, Sebastian Claici*, Axel Wendt
(to appear) Robotics and Automation Letters (RAL), 2017
*the first two authors contributed equally
READ MORE    Bibtex


Unsupervised object segmentation through change detection in a long term autonomy scenario

Rares Ambrus, John Folkesson, Patric Jensfelt
International Conference on Humanoid Robots, 2016
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Efficient Retrieval of Arbitrary Objects from Long-Term Robot Observations

Nils Bore, Rares Ambrus, Patric Jensfelt, John Folkesson
Robotics and Autonomous Systems, Elsevier, 2016

Autonomous Learning of Object Models on a Mobile Robot

Thomas Fäulhammer, Rares Ambrus, Christopher Burbridge, Michael Zilich, John Folkesson, Nick Hawes, Patric Jensfelt, Markus Vincze
Robotics and Automation Letters (RAL), 2016
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Towards an adaptive system for lifelong object modelling

Johan Ekekrantz, Nils Bore, Rares Ambrus, John Folkesson, Patric Jensfelt
ICRA Workshop: AI for Long-term Autonomy, IEEE, 2016


Unsupervised learning of spatial-temporal models of objects in a long-term autonomy scenario

Rares Ambrus, Johan Ekekrantz, John Folkesson, Patric Jensfelt
International Conference on Intelligent Robots and Systems, IEEE/RSJ, 2015
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Where's waldo at time t? Using spatio-temporal models for mobile robot search

Tomas Krajnik, Miroslav Kulich, Lenka Mudrova, Rares Ambrus, Tom Duckett
International Conference on Robotics and Automation, IEEE, 2015
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KTH-3D-TOTAL: A 3D dataset for discovering spatial structures for long-term autonomous learning

Akshaya Thippur, Rares Ambrus, Gaurav Agrawal, Adria Gallart Del Brugo, Janardhan Haryadi Ramesh, Mayank Kumar Jha, Malepati Bala Siva Sai Akhil, Nishan Bhavanishankar Shetty, John Folkesson, Patric Jensfelt
International Conference on Control, Automation, Robotics and Vision, IEEE, 2014
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Meta-rooms: Building and Maintaining Long Term Spatial Models in a Dynamic World

Rares Ambrus, Nils Bore, John Folkesson, Patric Jensfelt
International Conference on Intelligent Robots and Systems, IEEE/RSJ, 2014
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Modeling Motion Patterns of Dynamic Objects by IOHMM

Zhan Wang, Rares Ambrus, John Folkesson, Patric Jensfelt
International Conference on Intelligent Robots and Systems, IEEE/RSJ, 2014
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Unmanned Vehicles Conversion Kit: a minimally invasive system for the conversion of regular vehicles into tele-operable and autonomous platforms

Rares Ambrus, Akash Vibhute, Geetesh Dubey, Anuj Kapuria
Advances in Robotics, ACM, 2013
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WEAR: WEarable Augmented Reality

D. de Weerdt, M. Ilkovitz, R. Ambrus, Y. Nevatia, D. Martinez Oliviera, L. Arguello
11th International Workshop on Simulation \& EGSE facilities for Space Programmes -SESP, 2011


Augmented Autonomy: Improving human-robot team performance in Urban Search and Rescue

Yashodhan Nevatia, Todor Stoyanov, Ravi Rathnam, Max Pfingsthorn, Stefan Markov, Rares Ambrus, Andreas Birk
International Conference on Intelligent Robots and Systems, IEEE/RSJ, 2008
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Terrain Classification for Autonomous Robot Mobility: from Safety, Security Rescue Robotics to Planetary Exploration

Andreas Birk, Todor Stoyanov, Yashodhan Nevatia, Rares Ambrus, Jann Popinga, Kaustubh Pathak
Planetary Rovers Workshop, ICRA,IEEE, 2008
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