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Marcelo R. Petry is a robotics researcher and educator who works at the intersection of robotics, computer vision, and mixed reality. His research spans human-robot collaboration and cutting-edge assistive technologies, making complex tasks faster, safer, and more efficient. Marcelo is a senior researcher at INESC TEC and a Visiting Professor at the University of Porto, and before that was an Assistant Professor at the Federal University of Santa Catarina.
Identification

Personal identification

Full name
Marcelo Roberto Petry

Citation names

  • Petry, Marcelo
  • Petry, M. R.
  • Petry, M.
  • Petry, Marcelo R.

Author identifiers

Ciência ID
D019-E3EC-F779
ORCID iD
0000-0002-7023-8562
AuthenticusID
R-000-VRV
Google Scholar ID
CceLGDUAAAAJ
Researcher Id
G-6328-2010
Scopus Author Id
25641541900

Email addresses

  • marcelo.petry@inesctec.pt (Professional)

Addresses

  • INESC TEC - Campus da FEUP, Rua Dr. Roberto Frias, 4200-465, Paranhos, Porto, Portugal (Professional)

Websites

Knowledge fields

  • Engineering and Technology - Electrotechnical Engineering, Electronics and Informatics - Robotics and Automatic Control

Languages

Language Speaking Reading Writing Listening Peer-review
Portuguese (Mother tongue)
English Upper intermediate (B2) Upper intermediate (B2) Upper intermediate (B2) Upper intermediate (B2) Upper intermediate (B2)
Education
Degree Classification
2009/10/15 - 2013/09/19
Concluded
 Engenharia Informática (Doutoramento)
Universidade do Porto Faculdade de Engenharia, Portugal
"A vision-based approach towards robust localization for intelligent wheelchairs " (THESIS/DISSERTATION)
2002/09/01 - 2008/08/08
Concluded
 Engenharia de Controle e Automação (Licence)
Pontifícia Universidade Católica do Rio Grande do Sul, Brazil
"Desenvolvimento de um Protótipo e de Metodologias de Controlo de uma Cadeira de Rodas Inteligente (Development of a Prototype and Control Methodologies for an Intelligent Wheelchair)" (THESIS/DISSERTATION)
 8.116 (0-10)
Affiliation

Science

Category
Host institution 		Employer
2019/02/15 - Current Principal Investigator (Research) Instituto de Engenharia de Sistemas e Computadores Tecnologia e Ciência, Portugal

Teaching in Higher Education

Category
Host institution 		Employer
2023/09/01 - 2024/02/29 Invited Assistant Professor (University Teacher) Universidade do Porto Faculdade de Engenharia, Portugal
2022/09/01 - 2023/02/28 Invited Assistant Professor (University Teacher) Universidade do Porto Faculdade de Engenharia, Portugal
2021/09/13 - 2022/03/12 Invited Assistant Professor (University Teacher) Universidade do Porto Faculdade de Engenharia, Portugal
2020/09/01 - 2021/02/28 Invited Assistant Professor (University Teacher) Universidade do Porto Faculdade de Engenharia, Portugal
2014/06/05 - 2019/02/28 Assistant Professor (University Teacher) Universidade Federal de Santa Catarina, Brazil
2012/02/01 - 2012/08/31 Invited Assistant (University Teacher) Universidade do Porto, Portugal
Universidade do Porto Faculdade de Engenharia, Portugal
Outputs

Publications

Book chapter
  1. Couto, Manuel; Petry, Marcelo; Silva, Manuel F.. "A Study of Virtual Reality Applied to Welder Training". In Towards a Hybrid, Flexible and Socially Engaged Higher Education, 116-127. Springer Nature Switzerland, 2024.
    Published • 10.1007/978-3-031-52667-1_13
  2. Ricardo B. Sousa; Marcelo R. Petry; António Paulo Moreira. "Extrinsic Sensor Calibration Methods for Mobile Robots: A Short Review". 559-569. Springer International Publishing, 2021.
    10.1007/978-3-030-58653-9_54
  3. Faria, Brígida Mónica; Reis, Luís Paulo; Lau, Nuno; Moreira, António Paulo; Petry, Marcelo; Ferreira, Luís Miguel. "Intelligent Wheelchair Driving: Bridging the Gap Between Virtual and Real Intelligent Wheelchairs". In Progress in Artificial Intelligence, 445-456. Springer International Publishing, 2015.
    Published • 10.1007/978-3-319-23485-4_44
  4. Faria, B.M.; Ferreira, L.M.; Reis, L.P.; Lau, N.; Petry, M.. "Intelligent wheelchair manual control methods: A usability study by cerebral palsy patients". In Progress in Artificial Intelligence. 2013.
    Published • 10.1007/978-3-642-40669-0_24
  5. Petry, M.R.; Moreira, A.P.; Reisinst, L.P.. "Increasing illumination invariance of SURF feature detector through color constancy". In Progress in Artificial Intelligence. 2013.
    Published • 10.1007/978-3-642-40669-0_23
  6. Braga, R. A. M.; Moreira, A. P.; Petry, M.; Reis, L. P.. "Concept and Design of the Intellwheels Development Platform for Intelligent Wheelchairs". edited by Juan Andrade Cetto; Jean-Louis Ferrier; Joaquim Filipe, 191-203. 2009.
    10.1007/978-3-642-00271-7_14
Conference abstract
  1. Paiva, M.; Petry, Marcelo; Rosseti, R.. "Topological Inference Through Mobile Devices". Paper presented in ACM Symposium on Applied Computing, Trento, 2012.
    Published • 10.1145/2245276.2245386
Conference paper
  1. João G. Martins; Karle Nutonen; Paulo Costa; Vladimir Kuts; Armando Jorge Miranda de Sousa; Petry, Marcelo R.. "AR/VR Digital Twin for simulation and data collection of robotic environments". Paper presented in 25th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC2025, Funchal, 2025.
    In press
  2. Manuel B. Couto; Petry, Marcelo; Abel Mendes; Manuel F. Silva. "Virtual Reality-Based Teleoperation System for Robot Forklifts". Paper presented in 25th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC2025), Funchal, 2025.
    In press
  3. Pedro A. Dias; Marcelo R. Petry; Luís F. Rocha. "The Role of Robotics: Automation in Shoe Manufacturing". 2024.
    10.1109/mesa61532.2024.10704834
  4. João G. Martins; Gabriel M. Costa; Marcelo R. Petry; Paulo Costa; António Paulo Moreira; João G. Martins; Petry, Marcelo R.; et al. Corresponding author: Petry, Marcelo R.. "A Multi-User Multi-Robot Collaboration through Augmented Reality". Paper presented in 24th IEEE International Conference on Autonomous Robot Systems and Competitions, Paredes de Coura, 2024.
    Accepted • 10.1109/icarsc61747.2024.10535948
  5. João Graça Martins; Petry, Marcelo (D019-E3EC-F779; António Paulo Moreira. "Assessment of the influence of magnetic perturbations and dynamic motions in a commercial AHRS". Paper presented in 2023 IEEE International Conference on Autonomous Robot Systems and Competitions, Tomar, 2023.
    10.1109/icarsc58346.2023.10129577
  6. Rui Pinto; Gil Gonlves; Doris Aschenbrenner; Zoltan Rusak; Petry, Marcelo; Manuel Santos Silva. "CPPS 101 - A Tutorial Introduction on Cyber-Physical Production Systems". 2021.
    10.2139/ssrn.3858754
  7. Ricardo B. Sousa; Petry, Marcelo; António Paulo Moreira. "Evolution of Odometry Calibration Methods for Ground Mobile Robots". 2020.
    10.1109/ICARSC49921.2020.9096154
  8. Baltazar, André Rodrigues; Petry, Marcelo; Manuel Fernando Santos Silva; António Paulo Moreira. "Driverless Wheelchair for Patients On-Demand Transportation in Hospital Environment". 2020.
    10.1109/ICARSC49921.2020.9096202
  9. Aschenbrenner, D; Rieder, JSI; van Tol, D; van Dam, J; Rusak, Z; Blech, JO; Azangoo, M; et al. "Mirrorlabs - creating accessible Digital Twins of robotic production environment with Mixed Reality". 2020.
    10.1109/aivr50618.2020.00017
  10. Juliano Emir Nunes Masson; Petry, Marcelo. "Comparison of Algorithms for 3D Reconstruction". 2019.
    10.1109/icarsc.2019.8733610
  11. Rômulo Pacher Júnior; Petry, Marcelo. "Robot Localization Through Optical Character Recognition of Signs". 2019.
    10.1109/ICARSC.2019.8733652
  12. Luiz, B.; Petry, Marcelo. "HEAD DRIVING SYSTEM: interface homem máquina para controle de cadeiras de rodas através de movimentos da cabeça". Paper presented in XIII Simpósio Brasileiro de Automação Inteligente - SBAI 2017, Porto Alegre, 2017.
    Published
  13. Masson, J.E.N.; Petry, M.R.. "Comparison of mesh generation algorithms for railroad reconstruction". 2017.
    10.1109/ICARSC.2017.7964086
  14. Petry, M.R.; Moreira, A.P.; Faria, B.M.; Reis, L.P.. "IntellWheels: Intelligent wheelchair with user-centered design". 2013.
    10.1109/HealthCom.2013.6720711
  15. Faria, B.M.; Ferreira, L.M.; Reis, L.P.; Lau, N.; Petry, M.R.; Soares, J.C.. "Manual Control for Driving an Intelligent Wheelchair: A Comparative Study of Joystick Mapping Methods". Paper presented in IROS 2012 - Workshop on Progress, Challenges and Future Perspectives in Navigation and Manipulation Assistance for Robotic Wheelchairs, Vila Moura, 2012.
    Published
  16. Vasconcelos, G.; Petry, M.; Almeida, J.E.; Rossetti, R.J.F.; Coelho, A.L.. "Using UWB for human trajectory extraction". 2012.
  17. Paiva, M.; Petry, M.; Rossetti, R.J.F.. "Using mobile devices for topological inference of indoor environments". 2012.
    10.5220/0003835304270432
  18. Petry, M.R.; Moreira, A.P.; Reis, L.P.; Rossetti, R.J.F.. "Intelligent Wheelchair Simulation: Requirements and Architectural Issues. In: International Conference on Mobile Robots and Competitions". Paper presented in International Conference on Mobile Robots and Competitions, Lisboa, 2011.
    Published
  19. Xavier, J.; Abreu, P.H.; Reis, L.P.; Petry, M.. "Location and automatic trajectory calculation of mobile objects using radio frequency identification". 2011.
  20. Braga, R. A. M.; Moreira, A. P.; Petry, M.; Reis, L. P.. "Shared Control for Obstacle Avoidance in Intelligent Wheelchairs". 2010.
    10.1109/RAMECH.2010.5513193
  21. Braga, R. A. M.; Petry, Marcelo; Reis, L.P.; Moreira, A.P.. "Platform for Intelligent Wheelchairs Using Multi-Level Control and Probabilistic Motion Model". Paper presented in 8th Portuguese Conference on Automatic Control, Vila Real, 2008.
    Published
  22. Braga, R.A.M.; Petry, M.; Oliveira, E.; Reis, L.P.. "Multi-level control of an intelligent wheelchair in a hospital environment using a cyber-mouse simulation system". 2008.
Journal article
  1. Grazi, Lorenzo; Feijoo Alonso, Abel; Gasiorek, Adam; Pertusa Llopis, Afra Maria; Grajeda, Alejandro; Kanakis, Alexandros; Rodriguez Vidal, Ana; et al. Corresponding author: Masood, Jawad. "Methodology and Challenges of Implementing Advanced Technological Solutions in Small and Medium Shipyards: The Case Study of the Mari4_YARD Project". Electronics 14 8 (2025): 1597. https://doi.org/10.3390/electronics14081597.
    Open access • Published • 10.3390/electronics14081597
  2. Gabriel M. Costa; Marcelo R. Petry; João G. Martins; António Paulo Moreira. "Assessment of Multiple Fiducial Marker Trackers on Hololens 2". IEEE Access (2024): 1-22. https://doi.org/10.1109/ACCESS.2024.3356722.
    Open access • Published • 10.1109/ACCESS.2024.3356722
  3. Joana Dias; Pedro Simões; Nuno Soares; Carlos M. Costa; Marcelo R. Petry; Germano Veiga; Luís F. Rocha. "Comparison of 3D Sensors for Automating Bolt-Tightening Operations in the Automotive Industry". Sensors (2023): 1-16. https://doi.org/10.3390/s23094310.
    Open access • Published • 10.3390/s23094310
  4. Ricardo B. Sousa; Petry, Marcelo; Paulo G. Costa; António Paulo Moreira. Corresponding author: Ricardo B. Sousa. "OptiOdom: a Generic Approach for Odometry Calibration of Wheeled Mobile Robots". Journal of Intelligent & Robotic Systems (2022): https://doi.org/10.1007/s10846-022-01630-3.
    10.1007/s10846-022-01630-3
  5. de Moura Costa, Gabriel; Petry, M. R.; Moreira, António. Corresponding author: de Moura Costa, Gabriel. "Augmented Reality for Human–Robot Collaboration and Cooperation in Industrial Applications: A Systematic Literature Review". Sensors 22 7 (2022): 2725-2725. http://dx.doi.org/10.3390/s22072725.
    Open access • Published • 10.3390/s22072725
  6. Luís C. Santos; Filipe N. Santos; António Valente; Héber Sobreira; José Sarmento; Marcelo Petry. "Collision avoidance considering iterative Bézier based approach for steep slope terrains". IEEE Access (2022): 1-1. http://dx.doi.org/10.1109/access.2022.3153496.
    Open access • 10.1109/access.2022.3153496
  7. Juliano Emir Nunes Masson; Petry, Marcelo; Daniel Ferreira Coutinho; Leonardo de Mello Honório. Corresponding author: Juliano Emir Nunes Masson. "Deformable convolutions in multi-view stereo". Image and Vision Computing 118 (2022): 104369-104369. http://dx.doi.org/10.1016/j.imavis.2021.104369.
    Published • 10.1016/j.imavis.2021.104369
  8. Inês Soares; Marcelo Petry; António Paulo Moreira. "Programming Robots by Demonstration Using Augmented Reality". Sensors (2021): https://doi.org/10.3390/s21175976.
    10.3390/s21175976
  9. Inês Soares; Ricardo B. Sousa; Marcelo Petry; António Paulo Moreira. "Accuracy and Repeatability Tests on HoloLens 2 and HTC Vive". Multimodal Technologies and Interaction (2021): https://doi.org/10.3390/mti5080047.
    10.3390/mti5080047
  10. Baltazar, André R.; Petry, Marcelo R.; Silva, Manuel F.; Moreira, António Paulo. "Autonomous wheelchair for patient’s transportation on healthcare institutions". SN Applied Sciences 3 3 (2021): http://dx.doi.org/10.1007/s42452-021-04304-1.
    Published • 10.1007/s42452-021-04304-1
  11. Luís Carlos Santos; André Silva Aguiar; Filipe Neves Santos; António Valente; Marcelo Petry. "Occupancy Grid and Topological Maps Extraction from Satellite Images for Path Planning in Agricultural Robots". Robotics 9 4 (2020): 77-77. https://doi.org/10.3390/robotics9040077.
    10.3390/robotics9040077
  12. Abreu, P.H.; Xavier, J.; Castro Silva, D.; Reis, L.P.; Petry, M.. "Using Kalman filters to reduce noise from RFID location system". The Scientific World Journal 2014 (2014): http://www.scopus.com/inward/record.url?eid=2-s2.0-84898831753&partnerID=MN8TOARS.
    10.1155/2014/796279
  13. Braga, R. A.M.; Moreira, A. P.; Petry, M.; Reis, L. P.. "IntellWheels: Modular Development Platform for Intelligent Wheelchairs". Journal of Rehabilitation Research and Development 48 9 (2011): 1061-1076.
    10.1682/jrrd.2010.08.0139
Journal issue
  1. Petry, Marcelo; Manuel F. Silva. "Sensors for Robotic Applications in Europe". Sensors (2023): https://www.mdpi.com/journal/sensors/special_issues/Sensors_Robotic_Europe.
    Published
Thesis / Dissertation
  1. Petry, Marcelo. "A vision-based approach towards robust localization for intelligent wheelchairs". PhD, Universidade do Porto Faculdade de Engenharia, 2013. https://hdl.handle.net/10216/76031.
  2. Petry, Marcelo. "Desenvolvimento de um Protótipo e de Metodologias de Controlo de uma Cadeira de Rodas Inteligente (Development of a Prototype and Control Methodologies for an Intelligent Wheelchair)". Master, Universidade do Porto Faculdade de Engenharia, 2008. https://hdl.handle.net/10216/58824.
Activities

Supervision

Thesis Title
Role 		Degree Subject (Type)
Institution / Organization
2020/09/01 - Current Augmented reality assistance system combined with task allocation approach for industrial human-robot collaborative tasks
Supervisor
 Doutoramento em Engenharia Eletrotécnica e de Computadores (PhD)
Universidade do Porto Faculdade de Engenharia, Portugal
2022/09/01 - 2023/10/12 Virtual Reality Applied to Welder Training
Co-supervisor
 Mestrado em Engenharia Eletrotécnica e de Computadores - Automação e Sistemas (Master)
Instituto Politécnico do Porto Instituto Superior de Engenharia do Porto, Portugal
2022/09/01 - 2023/07/20 Célula de preparação de gáspeas
Co-supervisor
 Mestrado em Engenharia Eletrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2021/10/01 - 2023/07/13 Human-Machine Interface through Augmented Reality
Supervisor
 Engenharia Eletrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2022/09/01 - 2023/07/10 Multi-Sensorial Simultaneous Localization and Mapping in Unmanned Aerial Vehicles
Supervisor
 Mestrado em Engenharia Eletrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2020/09/05 - 2021/07/19 3D Reconstruction of Civil Infrastructures from UAV Lidar point clouds
Supervisor
 Engenharia Eletrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2020/09/04 - 2021/07/14 Programming Robots by Demonstration using Augmented Reality
Supervisor
 Engenharia Eletrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2020/09/27 - 2021/07/13 UVC Dose Mapping by Mobile Robots
Supervisor
 Engenharia Eletrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2019/03/01 - 2021/03/22 Geração de mapas de profundidade utilizando redes neurais convolucionais
Co-supervisor
 Engenharia de Automação e Sistemas (Master)
Universidade Federal de Santa Catarina Centro Tecnológico, Brazil
2019/09/01 - 2020/07/23 Autonomous Wheelchair to support Patients of Hospital Services
Co-supervisor
 Engenharia Eletrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2019/09/01 - 2020/07/13 Odometry and Extrinsic Sensor Calibration on Mobile Robots
Co-supervisor
 Engenharia Eletrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2018/08/01 - 2019/06/11 Comparison and benchmarking for SLAM in mobile robots
Supervisor
 Engenharia de Controle e Automação (Degree)
Universidade Federal de Santa Catarina, Brazil
2018/08/01 - 2019/01/31 Desenvolvimento de um algoritmo para a reconstrução 3D a partir de imagens RGB (Development of an algorithm for 3D reconstruction from RGB images)
Supervisor
 Engenharia de Controle e Automação (Degree)
Universidade Federal de Santa Catarina, Brazil
2018/08/01 - 2019/01/31 Localização de Robôs por Reconhecimento Ótico de Caracteres de Placas (Robot Localization Through Optical Plate Character Recognition)
Supervisor
 Engenharia de Controle e Automação (Degree)
Universidade Federal de Santa Catarina, Brazil
2018/08/01 - 2019/01/31 Automação de Fábrica de Farinha e Óleo Animal (Animal Flour and Oil Factory Automation)
Supervisor
 Engenharia de Controle e Automação (Degree)
Universidade Federal de Santa Catarina, Brazil
2014/02/15 - 2014/09/30 Optimized Mobile System for Seamless Indoor/Outdoor Positioning
Co-supervisor
 Engenharia Eletrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2013/02/15 - 2013/09/19 Using Ubisense to Model Human Behaviour in Emergency Situations
Co-supervisor
 Engenharia Eletrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2011/09/11 - 2012/07/17 Localização Robusta de um Robô em Ambiente Simulado (Robust Location of a Robot in a Simulated Environment)
Co-supervisor
 Engenharia Informática e Computação (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2012/02/13 - 2012/07/13 Seamless indoor/outdoor positioning using smartphones
Co-supervisor
 Engenharia Informática e Computação (Master)
Universidade do Porto Faculdade de Engenharia, Portugal
2011/02/14 - 2011/07/22 Study on Indoor Mapping Using Mobile Computing
Co-supervisor
 Engenharia Eletrotécnica e de Computadores (Master)
Universidade do Porto Faculdade de Engenharia, Portugal