He received the Laurea degree in computer engineering from Politecnico di Milano in 2003 with a thesis in the field of Robot Mapping. He then received the Ph.D. degree in Information Technology at Politecnico di Milano in 2007 with a thesis on 3D reconstruction from single images with omnidirectional cameras. He spent 4 years with the PERCEPTION group at INRIA Grenoble - Rhone-Alpes in Grenoble (FRA) where he mainly worked on geometrical aspects of computer vision, such as calibration, real-time structure-from-motion and general camera models.