Daniel Fusaro,
Ph.D.

           

Venues

    Hi, I'm Daniel :')

    Post-Doctoral Research Fellow at Department of Information Engineering, University of Padua.
    Working with Prof. Alberto Pretto and collaborating with Prof. Loris Nanni.

    3D Perception 🌐 Point Clouds 🌐 Semantic Segmentation ✨ Traversability 🏎️ Robotics 🤖 Agricultural AI 🌱 Underwater Perception ⛵

    News

    Working Experience

    IAS Lab - FRoG Group

    Post-Doctoral Research Fellow

    11/2025 - 11/2026

    IAS Lab - FRoG Group

    Ph.D. Student (cum Laude)

    11/2022 - 03/2026

    Thesis: Learning-Based Perception Methods for Cross-Domain Autonomous Robotics Navigation and Environment Monitoring

    University of Bonn

    Visiting Ph.D.

    03/2024 - 09/2024
    Supervised by Prof. Cyrill Stachniss and his team on different robotics projects.

    IAS Lab - FRoG Group -

    Post-Graduate Research Fellow

    02/2022 - 10/2022
    I worked on the SubEye project.

    IAS Lab - FRoG Group

    Post-Graduate Collaborator

    11/2021 - 02/2022

    FlexSight

    Internship

    04/2021 - 11/2021

    Recent Publications

    µ-Learn: A Lightweight, On-Device Machine Learning Library for Educational Robotics Platforms

    Daniel Fusaro, Laura Cesaro, Michele Moro, Emanuele Menegatti
    Robotics in Education (RiE), 2026
    PDF   |   Code

    Introducing Machine Learning to Middle-school Students with Edge-AI in an Educational Robot

    Laura Cesaro, Daniel Fusaro, Michele Moro, Emanuele Menegatti
    Robotics in Education (RiE), 2026
    PDF   |   Code

    Horticultural Temporal Fruit Monitoring via 3D Instance Segmentation and Re-Identification using Colored Point Clouds

    Daniel Fusaro, Federico Magistri, Jens Behley, Alberto Pretto, Cyrill Stachniss
    Computers and Electronics in Agriculture, 2026
    PDF   |   Code   |   Cite

    BarcodEnsemble: Leveraging Deep Learning Ensembles for DNA-Based Taxonomic Classification

    Loris Nanni, Sheryl Bahnam, Daniel Fusaro, Marco Stefani, Alessandro Dario
    Submitted to IEEE/ACM Transactions on Computational Biology and Bioinformatics, 2026

    Geometry- and Consistency-Guided Test-Time Adaptation for Robust Synthetic-to-Real LiDAR Segmentation in Autonomous Driving

    Wanmeng Li, Daniel Fusaro, Simone Mosco, Alberto Pretto
    Submitted to IEEE Transactions on Intelligent Transportation Systems (T-ITS), 2026
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    Bringing Back RNNs for Real-Time LiDAR Semantic Segmentation

    Simone Mosco, Daniel Fusaro, Wanmeng Li, Alberto Pretto
    Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

    TravKAN: Fast and Interpretable Nonlinear Traversability Analysis with Kolmogorov-Arnold Networks

    Daniel Fusaro, Simone Mosco, Wanmeng Li, Alberto Pretto
    Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

    Revisiting Retentive Networks for Fast Range-View 3D LiDAR Semantic Segmentation

    Simone Mosco, Daniel Fusaro, Wanmeng Li Alberto Pretto
    Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2026
    Project   |   Code   |   Cite

    Learning to Identify Out-of-Distribution Objects for 3D LiDAR Anomaly Segmentation

    Simone Mosco, Daniel Fusaro, Alberto Pretto
    Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026
    Project   |   Code   |   Cite

    Ensemble Deep Learning Models on Raw DNA Sequences for Viral Genome Identification in Human Samples

    Marco De Nat, Simone Boscolo, Sonia Pilar Gallo, Loris Nanni Daniel Fusaro,
    Sensors, 2026
    PDF   |   Code   |   Cite

    Advancing Taxonomy with Machine Learning: A Hybrid Ensemble for Species and Genus Classification

    Loris Nanni, Matteo De Gobbi, Roger De Almeida Matos Junior, Daniel Fusaro
    Algorithms, 2025
    PDF   |   Code   |   Cite

    Point-Plane Projections for Accurate LiDAR Semantic Segmentation in Small Data Scenarios

    Simone Mosco, Daniel Fusaro, Wanmeng Li, Emanuele Menegatti, Alberto Pretto
    Submitted to Computer Vision and Image Understanding (CVIU), 2025
    PDF   |   Code   |   Cite

    DPGLA: Bridging the Gap between Synthetic and Real Data for Unsupervised Domain Adaptation in 3D LiDAR Semantic Segmentation

    Wanmeng Li, Simone Mosco, Daniel Fusaro, Alberto Pretto
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
    PDF   |   Code   |   Cite

    Matrix-Based Vector Representations in Neural Networks for Classifying Molecular Biology Data

    Loris Nanni, Sheryl Brahnam, Daniel Fusaro
    Bioinformatics Advances, 2025
    PDF   |   Code   |   Cite

    Insect Identification by Combining Different Neural Networks

    Loris Nanni, Nicola Maritan, Daniel Fusaro, Sheryl Brahnam, Francesco Boscolo Meneguolo, Maria Sgaravatto
    Expert Systems with Applications, 2025
    PDF   |   Code   |   Cite

    ConUDA: Confidence-Guided Pseudo-Label Sampling for Unsupervised Domain Adaptation in 3D LiDAR Semantic Segmentation

    Wanmeng Li, Simone Mosco, Daniel Fusaro, Alberto Pretto
    European Conference on Mobile Robots (ECMR), 2025
    PDF   |   Code   |   Cite

    Real-time Underwater Place Recognition in Synthetic and Real Environments using Multibeam Sonar and Learning-based Descriptors

    Daniel Fusaro, Simone Mosco, Wanmeng Li, Alberto Pretto
    IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2025
    PDF   |   Cite

    Spatio-Temporal Consistent Semantic Mapping for Robotics Fruit Growth Monitoring

    Luca Lobefaro, Matteo Sodano, Daniel Fusaro, Federico Magistri, Meher VR Malladi, Tiziano Guadagnino, Alberto Pretto, Cyrill Stachniss
    IEEE Robotics and Automation Letters, 2025
    PDF   |   Code   |   Cite

    Sample Size for Training and Testing: Segment Anything Models and Supervised Approaches

    Daniela Cuza, Carlo Fantozzi, Loris Nanni, Daniel Fusaro, Gustavo Zanoni Felipe, Sheryl Brahnam
    Advances in Intelligent Healthcare Delivery and Management, 2024
    PDF   |   Code   |   Cite

    P-SVM2: Enhancing LiDAR-based Traversability Analysis with Augmented Point Cloud Descriptor for Autonomous Mobile Systems

    Wanmeng Li, Daniel Fusaro, Emilio Olivastri, Simone Mosco, Nicola Bellotto, Alberto Pretto
    IEEE Int. Conf. on Cybernetics and Intelligent Systems (CIS) and Robotics, Automation and Mechatronics (RAM), 2024
    PDF   |   Code   |   Cite

    Exploiting Local Features and Range Images for Small Data Real-Time Point Cloud Semantic Segmentation

    Daniel Fusaro, Simone Mosco, Emanuele Menegatti, Alberto Pretto
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
    PDF   |   Code   |   Cite

    A Sonar-based AUV Positioning System for Underwater Environments with Low Infrastructure Density

    Emilio Olivastri, Daniel Fusaro, Wanmeng Li, Simone Mosco, Alberto Pretto
    IEEE ICRA Workshop on Field Robotics, 2024
    PDF   |   Cite

    Improving Existing Segmentators Performance with Zero-Shot Segmentators

    Loris Nanni, Daniel Fusaro, Carlo Fantozzi, Alberto Pretto,
    MDPI Entropy, 2023
    PDF   |   Code   |   Cite

    Improving Generalization of Synthetically Trained Sonar Image Descriptors for Underwater Place Recognition

    Ivano Donadi, Emilio Olivastri, Daniel Fusaro, Wanmeng Li, Daniele Evangelista, Alberto Pretto
    IEEE International Conference on Computer Vision Systems, 2023
    PDF   |   Code   |   Cite

    Pyramidal 3D feature fusion on polar grids for fast and robust traversability analysis on CPU

    Daniel Fusaro, Emilio Olivastri, Ivano Donadi, Daniele Evangelista, Emanuele Menegatti, Alberto Pretto
    Robotics and Autonomous Systems, 2023
    PDF   |   Code   |   Cite

    Real-time Free Space Semantic Segmentation for Detection of Traversable Space for an Intelligent Wheelchair

    Chrysovalanto Messiou, Daniel Fusaro, Gloria Beraldo, Luca Tonin,
    Int. Conf. on Rehabilitation Robotics (ICORR), 2022
    PDF   |   Cite

    An Hybrid Approach to Improve The Performance of Encoder-Decoder Architectures for Traversability Analysis in Urban Environments

    Daniel Fusaro, Emilio Olivastri, Daniele Evangelista, Pietro Iob, Alberto Pretto
    IEEE Intelligent Vehicles Symposium (IV), 2022
    PDF   |   Cite

    Pushing the Limits of Learning-based Traversability Analysis for Autonomous Driving on CPU

    Daniel Fusaro, Emilio Olivastri, Daniele Evangelista, Marco Imperoli, Emanuele Menegatti, Alberto Pretto
    Int. Conf. on Intelligent Autonomous Systems (IAS), 2022
    PDF   |   Code   |   Cite

    Teaching Activities

    Master Theses co-relator

    Complementary Lecturer (Didattica Integrativa)

    • Deep Learning - Università degli Studi di Padova
      2025/2026
      2024/2025
      2023/2024
      2022/2023

    Lecturer for Educational Robotics

    • Teacher for the course "Cyber Security"
      Feb 2026 - 2 lectures of 2 hours, high school students, ITET L. E V. Pasini, Schio (VI)
    • Teacher for the course "Imparare a programmare in Python con i robot"
      Jan 2026 - 15 hours, high school students, DIGA project, Liceo Fermi, Padova
    • Tutor for the course "Robotica Educativa e Coding"
      Sep 2025 - 15 hours, primary and middle school professors, I.C. Moroni, Vigodarzere
    • Tutor for the course "AI e Robotica per la scuola secondaria di primo grado"
      Apr 2025 - 20 hours, middle school professors, VII I.C. San Camillo, Padova
    • Tutor for the course "Robotica Educativa e Coding"
      Dec 2025 - 8 hours, primary and middle school professors, Istituto Barbarigo, Padova
    • Teacher for the course "Robotics And Python"
      2024/2025 - 15 hours, high school students, Liceo Lioy, Vicenza

    Third Mission Activities

    • Science4All
      28/09/2025, Padova
      14/11/2025 @ DEI, Padova (two middle school classroom)

    Editorial and Review Activities

    Editorial Activities

    • Associate Editor (AE) for IROS 2026
      2026 - Associate Editor (AE) for the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
      I handled 9 papers.

    Reviewer for Journals

    • IEEE Robotics and Automation Letters (RA-L)
    • IEEE Intelligent Transportation Systems (ITS)
    • ISPRS Journal of Photogrammetry and Remote Sensing (P&RS)
    • Scientific Reports (SREP)
    • European Journal on Artificial Intelligence (EJ-AI)

    Reviewer for Conferences

    • IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
    • European Conference on Computer Vision (ECCV)
    • IEEE International Conference on Robotics and Automation (ICRA)
    • IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    • IEEE International Conference on Intelligent Transportation Systems (ITSC)
    • IEEE European Conference on Mobile Robots (ECMR)
    • IEEE International Conference on Cybernetics and Intelligent Systems (CIS)
    • IEEE International Conference on Robotics, Automation and Mechatronics (RAM)
    • Intelligent Autonomous Systems (IAS)

    Grants and Projects

    Grants

    CROP-LAB: Cooperative Robotic Orchard Laboratory for In-Situ Analysis & Biosensing

    I've submitted a grant submission to the CARIPARO "Bando Ricerca Scientifica di Eccellenza 2026" call of early 2026, for the project Cooperative Robotic Orchard Laboratory for In-Situ Analysis & Biosensing. The project's principal investigator is prof. Alberto Pretto, and is in collaboration with Dipartimento Territorio e Sistemi AgroForestali (TESAF) of University of Padova.
    CARIPARO, 2026

    Projects

    LOUIS: Low-Cost Intraoral Scanning

    I'm developing algorithms for high-precision oral scanners, focusing on 3D reconstruc- tion from tiny cameras. The goal is to build a working prototype of a precise, but low- cost, oral scanner, in order to enable 3D reconstruction of the oral cavity. This allows dentistry operations to be performed rapidly and remotely, without requiring expensive tools as the current facial scanners.
    2025--present

    Progetto DIGA: un ecosistema sostenibile per la formazione e l'orientamento

    The DIGA project, selected and financed by "Fondo per la Repubblica Digitale Impresa sociale (bando Polaris)", aims to develop a sustainable ecosystem for high-school student training and orienteering. Withing this project, I've been teacher for the course "Imparare a programmare in Python con i robot" (15 hours, high school students), at Liceo Fermi, Padova (PD), 2026.
    Department of Information Engineering (DEI), 2025/2026

    SubEye: Underwater Perception

    I conducted research on perception and pose estimation algorithms for autonomous underwater vehicles (AUVs). I managed the dataset curation process, working with sensors such as multibeam sonar, cameras, doppler velocity log (DVL) and inertial navigation system (INS).
    Saipem S.p.A., 2022--2024