I contributed to several and very different scientific fields. These are (in alphabetic order): Astrophysics, Computer Vision, Control Theory, Neurosciences, Physics and Robotics. I provided the general analytic solution to three fundamental open problems, studied by many researchers since very long time (half century). They are:
(control theory) The general analytic solution to the nonlinear Unknown Input Observability problem (see my book);
(Computer Vision/Robotics) The closed form solution to visual-inertial structure from motion (see my publications here and here);
(Physics) The complete analytic solution to the Brownian unicycle dynamics (see my publications here and here).
Below, I provide a description of the previous fundamental contributions together with additional important contributions, in chronological order (starting from the last), even if in some cases, I have worked simultaneously on more than one problem (e.g., this is the case to obtain the complete analytic solution to Brownian unicycle dynamics, whose derivation was carried out in two distinct periods).
Visual-Inertial Structure from Motion (Computer Vision/Robotics, 2009-)
Nonlinear Unknown Input Observability (Control Theory, 2012-)
Visual vestibular integration for self motion perception (Neurosciences, 2012-)
Brownian unicycle dynamics (Physics, 1999-2002, 2013-2015)
SLAM (Robotics, 2003-2007)
Self-Calibration (Robotics, 2003-2008)
The G Dwarf problem by using learning approaches (Astrophysics, 1999-2000)
Metallicity gradients in Elliptical galaxies (Astrophysics, 1997-1998)