Publications

1. Hussien, M., Melo, A., Ballardini, A., Maldonado, C., Izquierdo, R., & Sotelo, M. (2025). Rag-based explainable prediction of road users behaviors for automated driving using knowledge graphs and large language models. Expert Systems with Applications.
2. Ballardini, A., Cattaneo, D., Sorrenti, D., & Parra Alonso, I. (2024). Localization and scene understanding in urban environments. Frontiers in Robotics and AI.
3. Ballardini, A., Cattaneo, D., Izquierdo, R., Parra, I., Piazzoni, A., Sotelo, M., & Sorrenti, D. (2024). An ego-lane estimation method with sensor failure modelling. IEEE Access.
4. Manzour, M., Ballardini, A., Izquierdo, R., & Sotelo, M. (2024). Vehicle lane change prediction based on knowledge graph embeddings and bayesian inference. 2024 IEEE Intelligent Vehicles Symposium (IV).
5. Vaghi, M., D’Elia, F., Ballardini, A., & Sorrenti, D. (2023). Understanding the Effect of Deep Ensembles in LiDAR-Based Place Recognition. International Conference of the Italian Association for Artificial Intelligence.
6. Vaghi, M., Ballardini, A., Fontana, S., & Sorrenti, D. (2022). Uncertainty-Aware DNN for Multi-Modal Camera Localization. arXiv preprint arXiv:2211.01234.
7. Vaghi, M., Ballardini, A., Fontana, S., & Sorrenti, D. (2022). A comparison of uncertainty estimation approaches for DNN-based camera localization.. CoRR.
8. Lorenzo Diaz, J., Parra Alonso, I., Izquierdo Gonzalo, R., Ballardini, A., Hernández Saz, Á., Fernández Llorca, D., & Sotelo Vázquez, M. (2021). CAPformer: pedestrian crossing action prediction using transformer. .
9. Ballardini, A., Hernandez Saz, A., Carrasco Limeros, S., Lorenzo, J., Parra Alonso, I., Hernandez Parra, N., Garcia Daza, I., & Sotelo, M. (2021). Urban intersection classification: a comparative analysis. Sensors.
10. Lorenzo, J., Alonso, I., Izquierdo, R., Ballardini, A., Saz, Á., Llorca, D., & Sotelo, M. (2021). Capformer: Pedestrian crossing action prediction using transformer. Sensors.
11. Ballardini, A., Fontana, S., Cattaneo, D., Matteucci, M., & Sorrenti, D. (2021). Vehicle localization using 3D building models and point cloud matching. Sensors.
12. Ballardini, A., Saz, Á., & Sotelo, M. (2021). Model guided road intersection classification. 2021 IEEE Intelligent Vehicles Symposium (IV).
13. Hernández, N., Parra, I., Corrales, H., Izquierdo, R., Ballardini, A., Salinas, C., & García, I. (2021). WiFiNet: WiFi-based indoor localisation using CNNs. Expert Systems with Applications.
14. Fontana, S., Cattaneo, D., Ballardini, A., Vaghi, M., & Sorrenti, D. (2021). A benchmark for point clouds registration algorithms. Robotics and Autonomous Systems.
15. García Daza, I., Rentero, M., Salinas Maldonado, C., Izquierdo Gonzalo, R., Hernández Parra, N., Ballardini, A., & Fernandez Llorca, D. (2020). Fail-aware lidar-based odometry for autonomous vehicles. Sensors.
16. Ballardini, A., Cattaneo, D., Izquierdo, R., Alonso, I., Piazzoni, A., Sotelo, M., & Sorrenti, D. (2020). Vehicle ego-lane estimation with sensor failure modeling. arXiv preprint arXiv:2002.01913.
17. Cattaneo, D., Vaghi, M., Fontana, S., Ballardini, A., & Sorrenti, D. (2020). Global visual localization in LiDAR-maps through shared 2D-3D embedding space. 2020 IEEE International Conference on Robotics and Automation (ICRA).
18. Ballardini, A., Cattaneo, D., & Sorrenti, D. (2019). Visual localization at intersections with digital maps. 2019 International Conference on Robotics and Automation (ICRA).
19. Ballardini, A., Benetti, D., Cattaneo, D., Fontana, S., Vaghi, M., & Sorrenti, D. (2019). Interpretazione della scena e localizzazione in ambito urbano per veicoli autonomi. .
20. Cattaneo, D., Vaghi, M., Ballardini, A., Fontana, S., Sorrenti, D., & Burgard, W. (2019). Cmrnet: Camera to lidar-map registration. 2019 IEEE intelligent transportation systems conference (ITSC).
21. Ballardini, A., Cattaneo, D., & Sorrenti, D. (2018). A dataset for benchmarking vision-based localization at intersections. arXiv preprint arXiv:1811.01306.
22. Ballardini, A. (2018). A tutorial on particle swarm optimization clustering. arXiv preprint arXiv:1809.01942.
23. Ballardini, A. (2017). Matching heterogeneous sensing pipelines to digital maps for ego-vehicle localization. .
24. Ballardini, A., Cattaneo, D., Izquierdo, R., Parra, I., Sotelo, M., & Sorrenti, D. (2017). Ego-lane estimation by modeling lanes and sensor failures. 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC).
25. Ballardini, A., Cattaneo, D., Fontana, S., & Sorrenti, D. (2017). An online probabilistic road intersection detector. 2017 IEEE International Conference on Robotics and Automation (ICRA).
26. Ballardini, A., Cattaneo, D., Fontana, S., & Sorrenti, D. (2016). Leveraging the OSM building data to enhance the localization of an urban vehicle. 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC).
27. Ballardini, A., Ferretti, L., Fontana, S., Furlan, A., & Sorrenti, D. (2015). An indoor localization system for telehomecare applications. IEEE Transactions on Systems, Man, and Cybernetics: Systems.
28. Ballardini, A., Fontana, S., Furlan, A., Limongi, D., & Sorrenti, D. (2015). A framework for outdoor urban environment estimation. 2015 IEEE 18th International Conference on Intelligent Transportation Systems.
29. Ballardini, A., Fontana, S., Furlan, A., & Sorrenti, D. (2014). ira_laser_tools: a ROS laserscan manipulation toolbox. arXiv preprint arXiv:1411.1086.
30. Sorrenti, D., Furlan, A., Ballardini, A., Fontata, S., & Galbiati, A. (2013). Autonomous car driving live demo at the Piazza della Regione, Milan. .
31. Ballardini, A., Furlan, A., Galbiati, A., Matteucci, M., Sacchi, F., & Sorrenti, D. (2012). 6DoF Monte Carlo Localization in a 3D world with Laser Range Finders. QUADERNI DISCO.
32. Ballardini, A., Furlan, A., Galbiati, A., Matteucci, M., Sacchi, F., & Sorrenti, D. (2012). An effective 6DoF motion model for 3D-6DoF Monte Carlo Localization. 4th Workshop on Planning, Perception and Navigation for Intelligent Vehicles http://ppniv12.irccyn.ec-nantes.fr/.