About Isaac Esteban

My name is Isaac Esteban and I am a PhD candidate at the University of Amsterdam. My work, promoted by TNO, focuses on 3D reconstruction of urban areas. Supervised by Prof. Frans Groen I investigate together with TNO and the NFI methods for robust and fast 3D reconstruction to be used in forensic research.

After 3 years of intense work I am now visiting at EPFL. My work, together with the CvLab team, will focus for the next months on semantic 3D modeling at the city size level.

Below you will find a list of selected publications. If you have any questions regarding me or FIT3D, please do not hesitate to drop me a line at:

isaac (dot) esteban (at) fit3d (dot) info


[ICUMT’10] Esteban, I., Dijk, J., F.C.A. Groen Automatic 3D reconstruction of the urban landscape. International Congress on Ultra Modern Telecomunications and Control Systems (ICUMT), [2010].
[ICIRA’10] Esteban, I., Dorst, L., Dijk, J. Closed Form Solution for the Scale Ambiguity Problem in Monocular Visual Odometry. International Conference on Intelligent Robotics and Applications (ICIRA), [2010].
[SPIE’10] Esteban, I., Dijk, J. & Groen, F.C.A. FIT3D toolbox: multiple view geometry and 3D reconstruction for matlab. International Symposium on Security & Defence Europe (SPIE), [2010].
[IROS’10] G.Dubbelman, I. Esteban, K. Schutte Efficient Trajectory Bending with Applications to Loop Closure. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), [2010].
[IROS’09] Esteban, I., Booij, O., Dijk, J. & Groen, F.C.A. On the bending problem for large scale mapping. In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), [2009].
[SIMPAR’09] Esteban, I., Booij, O., Zivkovic, Z. & Krose, B.J.A. Mapping Large Environments with an Omnivideo Camera. In Workshop Proceedings of the Conf. On Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), [2009].


Esteban, I. Scale estimation for ego-motion with a monocular camera. 09178088.2. March 2010.
Esteban, I. Method and apparatus for measuring the trajectory of a vehicle. 08172389.2. February 2009.
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