Tobias Naegelit

Tobias Naegeli

MSc in Electrical Engineering
Advanced Interactive Technologies Lab, ETH Zürich

Universitätstrasse 6, 8092 Zürich, Switzerland
ETH Zurich, Department of Computer Science, CNB, H 100.9



I am currently starting a startup called Tinamu Labs, which develops technologies to convert commercially available drones into camera equipment reaching professional standards. By combining a novel positioning system and emulation software, we enable accurate and repeatable drone flights in any kind of lighting and environmental condition. Therefore, we create new possibilities for filmmakers and broadcasters allowing them to create stunning camera shots to the highest degree of flexibility.

I did my PhD at the Advanced Interactive Technologies group of the Institute of Pervasive Computing at the Swiss Federal Institute of Technology Zürich (ETH). My Ph.D. advisor is Prof. Dr. Otmar Hilliges. The main topic of the thesis was in the field of GPS less navigation, drone cinematography and real-time human motion capturing.

In 2013, I received my MSc from ETH Zurich in Electrical Engineering with a main focus on Control and Estimation.




Media Coverage


Journal Papers


Real-time Environment-independent Multi-view Human Pose Estimation with Aerial Vehicles

AuthorsT. Nägeli, S. Oberholzer, S. Plüss, J. Alonso-Mora, O. Hilliges
In ACM Transactions on Graphics (Proceedings of ACM SIGGRAPH ASIA), Tokyo, Japan, 2018


Real-time Planning for Automated Multi-View Drone Cinematography

AuthorsT. Nägeli, L. Meier, A. Domahidi, J. Alonso-Mora, O. Hilliges
In ACM Transactions on Graphics (Proceedings of ACM SIGGRAPH), Los Angeles, USA, 2017


Real-time Motion Planning for Aerial Videography with Dynamic Obstacle Avoidance and Viewpoint Optimization

AuthorsT. Nägeli, J. Alonso-Mora, A. Domahidi, D. Rus, O. Hilliges
In IEEE Robotics and Automation Letters (Volume: 2, Issue: 3), July 2017


Collision avoidance for aerial vehicles in multi-agent scenarios

Authors J. Alonso-Mora, T. Naegeli, R. Siegwart, P. Beardsley,
To Appear inAutonomous Robots, Springer US.

Conference Papers


Duo-VIO: Fast, Light-weight, Stereo Inertial Odometry

Authors N. De Palezieux, T. Nägeli*, O. Hilliges
In ProceedingsIEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, 2016


Omni-directional person tracking on a flying robot using occlusion-robust ultra-wideband signals

Authors B. Hepp*, T. Nägeli*, O. Hilliges
In ProceedingsIEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, 2016
*The first two authors contributed equally to this work.


Airways: Optimization-Based Planning of Quadrotor Trajectories according to High-Level User Goals

Authors C. Gebhardt*, B. Hepp*, T. Nägeli, S. Stevsic, O. Hilliges
To appear in ProceedingsACM SIGCHI, San Jose, CA, USA, May 2016
*The first two authors contributed equally to this work.


Semi-Direct EKF-based Monocular Visual-Inertial Odometry

Authors P. Tanskanen, T. Naegeli, M. Pollefeys, O. Hilliges,
In ProceedingsIEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Ger, Sept. 2015


Environment-independent Formation Flight for Micro Aerial Vehicles

Authors T. Naegeli, C. Conte, A. Domahidi, M. Morari, O. Hilliges,
To Appear inIEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, Sept. 2014 Best Paper Award

Master and Semester Theses

  • Environment-Independent Formation Flight for Micro Aerial Vehicles — Development of a MAV swarm with a vision based distributed estimation and controlling strategy at IFA and DRZ, ETH Zurich
  • Improved Kalman Filtering for Attitude and Position Control of a quadrotor using Optical Flow — Mathematical analysis of a quadrotor and the filter implementation at IFA, DRZ and CVG, ETH Zurich
  • Automatic Car Racing by Apprenticeship Learning — Autonomous machine learning of a race track by human demonstrations.

Student Theses

You can do semester, bachelor or master theses as well as D-ITET group projects and D-MAVT focus projects with me.
A list of available theses can be found here here. You are welcome to suggest your own topics, and please feel free to contact me.

Past Student Projects

  • Flycon: Distributed Human Pose Estimation using Quadrotors. Silvan Pluess 2017, MA
  • Real-Time Subject Position Estimation based on Visual Tracking for Intelligent Cinematography. Samuel Oberholzer 2017, MA
  • Distributed Formation Estimator for a Flying VICON System. Peter Worsnop, 2016, SA
  • Collision Avoidance for Micro Quadrotors stabilized by an adapted VIO algorithm. Lukas Meier 2016, MA
  • Visual Inertial Odometry for Environment Independent Autonomous Flight of Micro Aerial Vehicles. Nicolas de Palezieus, 2015, MA
  • Machine learning based Feature Extraction and Tracking. Yfan Wang, 2015, SA
  • Developpment of a Android App to control MAV. Christian Kuhn and Thomas Brunner, 2015, Group Work
  • Implementation of the MSCKF VIO algorithm. Partha Gosh, 2015, SA
  • Learning How to Avoid Walls and Obstacles with a Quadcopter. Michael Schaeuble, 2015, SA
  • Realtime People Detection in the Infrared Spectrum on a Credit-Card-Sized Computer. Julius Kuemmerle, 2015, SA
  • Developpment of a Motor Controller board for MAV's. Florian Schmied, 2015, SA
  • Human Motion Estimation with Body Worn Sensors. Dario Roetlisberger, 2015, MA
  • An Immersive 3D FPV System. Simon Hecker, 2014, SA
  • Developpment of a Camera Gimbal. Alexander Cebulla, 2014, BA

Teaching Assistant

  • Linear Algebra (D-INFK) — HS2017;
  • Linear Algebra (D-INFK) — HS2016;
  • Parallel Programming (D-INFK) — FS2016;
  • Linear Algebra (D-INFK) — HS2015;
  • Parallel Programming (D-INFK) — FS2015;
  • Informatik 1 (D-INFK) — FS2014;
  • Informatik 1 (D-INFK) — FS2013;
  • User Interface Engineering (D-INFK) — HS2013