Cooperative cloud based simultaneous localization and

mapping in dynamic environments (cloudSLAM)



Welcome to the webpage of cloudSLAM project.


cloudSLAM aims to develop algorithms for cooperatively solving the SLAM problem in highly dynamic environments.


His Excellency the Ambassador of...

The Canadian Ambassador, His Excellency Daniel Maksymiuk has visited UNIZG-FER on Tuesday, November 29, 2016. He met with the Dean of the Faculty Prof. Mislav Grgić and attended the 2nd ACROSS Workshop on Advanced Cooperative Systems.


As part of the workshop, he held a meeting with the cloudSLAM project leader Prof. Ivan Petrović and co-leader Prof. Dana Kulić, University of Waterloo, Canada. His Excellency Daniel Maksymiuk has stated his pleasure and support to the continuation of collaboration between UNIZG-FER and the Canadian Centre of Excellence as part of the cloudSLAM project.

Autor: Josip Ćesić
cloudSLAM team at Humanoids2016

Two members of the cloudSLAM team, Prof. Ivan Petrović and Josip Ćesić, have attended the IEEE-RAS International Conference on Humanoid Robts (Humanoids2016), November 15-17, Cancun, Mexico, and have presented the paper with the recent results achieved as part of the cloudSLAM project.

The work presented at the conference represents a result of the close collaboration among project partners from University of Waterloo and University of Zagreb. Furthermore, it was prepared in co-autorship of the groups of Prof. Ivan Petrović and Prof. Dana Kulić from the University of Waterloo. 



Autor: Josip Ćesić
Prof. Dana Kulić and researcher...

As a part of the cloudSLAM project, Prof. Dana Kulić and researcher Vladimir Joukov visited the Laboratory for Autonomous Systems and Mobile Robotics (LAMOR), directed by Prof. Ivan Petrović, August 22 - August 26, 2016.

During their visit, partners have worked on development of algorithms for dynamic SLAM, particularly working on human motion estimation based on inertial measurement units. Within the short period of time the cloudSLAM team succeeded to implement a novel estimation method. In the forthcoming weeks they plan to submit the results for publication.

Autor: Josip Ćesić

Prof. Dana Kulić, University of Waterloo, Canada, gave a talk as part of a research seminar organized by the cloudSLAM team, on 26th of August 2016, starting from 11:00 AM in the Seminar Hall C9-02 at the Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing. The talk was entitled "Human Motion Analysis for Automated Rehabilitation" 

In this 45 min long presentation, Prof. Kulić gave an overview of recent activities and achievements of her research group in the area of human motion analysis, particularly focusing on rehabilitation application.

More about the speaker and seminar you can find in the detailed news content.

Autor: Ivan Petrović
cloudSLAM team at FUSION2016

Two members of the cloudSLAM team, Asst. Prof. Ivan Marković and Josip Ćesić, have attended the 19th International Conference on Information Fusion (FUSION), July 5-8, Heidelberg, Germany, and have orally presented two papers with the recent results achieved as part of the cloudSLAM project. The papers particularly took part in the Special Session on Directional Estimation.

Autor: Josip Ćesić
Representatives of the World Bank...

As part of the implementation activities related to monitoring of UKF funded projects, delegation of representatives of the World Bank (Mrs. Arabela Aprahamian, Mrs. Manuela Stanculescu, Mrs. Sanja Živković and Mr. Todor Milchevski), the Unity Through Knowledge Fund (Mrs. Alessia Pozzi and Mr. Darko Huljenić) and the Croatian Ministry of Science, Education and Sports (Mr. Duško Stajić) have visited the cloudSLAM team at FER on June 1, 2016.

In the pleasant atmosphere Prof. Petrović, as the leader and principal investigator of the cloudSLAM project, has presented so far implemented work and some already delivered results. He has also given the overview of implemented dissemination activities related to the project.

The guests have provided their valuable feedback and expressed their satisfaction with the progress rate of the project activities.

The cloudSLAM team will be happy to host the delegation again in the nearest future! :)

Autor: Josip Ćesić
Prof. Ivan Petrović and researcher...

As a part of the cloudSLAM project, Prof. Ivan Petrović and researcher Josip Ćesić visited the Adaptive Systems Laboratory at the Department of Electrical and Computer Engineering, University of Waterloo, Canada, April 23 - May 01, 2016 and April 23 - May 09, 2016, respectively.

During the visit, partners have worked on development of estimation algorithms as a basis for dynamic SLAM solution. Even within the short period of time, in close collaboration with Prof. Dana Kulić from the University of Waterloo and her team, they succeeded to implement the expected activities. Alongside, they have also defined the forthcoming development and implementation activities that will lead towards successful completion of the project goals.

Autor: Josip Ćesić
Paper published in Robotics and...

The results obtained as part of the cloudSLAM project have recently been accepted for publication in Robotics and Autonomous Systems journal.

The article can be accessed via the following link:

Autor: Josip Ćesić

Prof. Ivan Petrović gave a talk as part of a research seminar organized by the Centre for Pattern Analysis and Machine Intelligence (CPAMI) at the Department of Electrical and Computer Engineering, University of Waterloo, Canada, on April 27, 2016. The talk was entitled “Autonomous Navigation in Unknown and Dynamic Large-Scale Environments.” The presentation was held in front of an audience including several professors and plenty of graduate and doctoral students, as well as several industry representatives.

Within this 45 min long presentation, Prof. Petrović gave a brief overview of recent research activities and achievements of LAMOR Lab in the area of autonomous navigation of ground and aerial robots. The emphasis was given on recently developed algorithms for real-time motion planning and control, localization and mapping, and moving objects detection and tracking. For all algorithms experimental results that have been obtained in real-world environments and were presented alongside. The talk was concluded with brief presentation of on-going research projects in the Lab and outline of some open issues and potential directions for future research.

Autor: Josip Ćesić
Seminar: Robotics trends in Japan -...

The cloudSLAM team invites you to the research seminar

Robotics trends in Japan - shaping the future through culture and technology

given by Prof. Tomotaka Takahashi, University of Tokio. The lecture will take place on Wednesday, March 9, 2016, starting at 12:00 in D1 Hall at the Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3.

For the introduction, a short lecture on Research in the field of robotics at FER as well as a brief overview of cloudSLAM project, will be given by the members of our project team.

More about the speaker can be found on the following link:

Autor: Josip Ćesić
Presentation of cloudSLAM project

IEEE Croatian Chapter for Robotics and Automation and Scientific Center of Excellence ACROSS invite you to the workshop where new robotic projects at the Department of Control and Computer Engineering will be presented.

cloudSLAM project (UKF 2015) will be presented by prof. dr. sc. Ivan Petrović, Laboratory for Autonomous Mobile Robotics, who is a principal investigator at this project and the head of the project team.

Alongside, several other projects will be presented as well:

  1. Projects "SafeLog: Safe human-robot interaction in logistic applications for highly flexible warehouses" (H2020 ICT24) will be presented by prof. dr. sc. Ivan Petrović, Laboratory for Autonomous Mobile Robotics.
  2. Project "subCULTron: submarine CULTures perform long-term robotic exploration of unconventional environmental niches" (H2020 FET PROACTIVE) will be presented by doc. dr. sc. Nikola Mišković, Laboratory for Underwater Systems and Technologies.
  3. Projects "EOLO: Wind generator remote inspection system" (FP7 EuRoC, team: BladeHunters) and "MORUS – Unmanned systems for maritime security and environmental monitoring" (NATO SfP) will be presented by prof. dr. sc. Stjepan Bogdan, Laboratory for Robotics and Intelligent Control Systems.

The presentation will take place on Monday, December 21, 2015, starting at 10:00 in Grey Hall at the Faculty for Electrical Engineering and Computing. All interested are kindly invited to participate. 

Autor: Josip Ćesić
UKF cloudSLAM team welcomes two new...

On February 20, 2016 Kruno Lenac i Josip Ćesić joined the UKF cloudSLAM team as PhD students. In the first year, Kruno will work on 6DoF SLAM and Josip on 6DoF multi-object detection and tracking, while in the second year they will integrate their algorithms into a full Cooperative Dynamic 6DoF SLAM capable of incorporating information of tracked moving objects, which will be implemented in the cloud and tested on a heterogeneous multi-agent system. 

Autor: Ivan Petrović