Department of Information Engineering, University of Padova
Via Gradenigo 6/b, 35131, Padova, Italy
sara.baldoni@unipd.it
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Biography
Research
Publications
Journal Publications
2026
Ferrarotti, Anna; Rodríguez, Isabel; Usón, Javier; Baldoni, Sara; Barbero, David; Berjón, Daniel; Morán, Francisco; García, Narciso; Battisti, Federica; Gutiérrez, Jesús; Carli, Marco; Cabrera, Julián
Quality assessment of 3D reconstructed meshes: Bridging objective metrics, subjective perception, and behavioral cues Journal Article
In: Signal Processing: Image Communication, vol. 143, 2026.
@article{Ferrarotti_SPIC_2026,
title = {Quality assessment of 3D reconstructed meshes: Bridging objective metrics, subjective perception, and behavioral cues},
author = {Anna Ferrarotti and Isabel Rodríguez and Javier Usón and Sara Baldoni and David Barbero and Daniel Berjón and Francisco Morán and Narciso García and Federica Battisti and Jesús Gutiérrez and Marco Carli and Julián Cabrera},
doi = {https://doi.org/10.1016/j.image.2026.117514},
year = {2026},
date = {2026-01-04},
journal = {Signal Processing: Image Communication},
volume = {143},
abstract = {Assessing the quality of 3D reconstructed models remains a key challenge in multimedia applications, especially in the context of cultural heritage, where visual fidelity and perceptual realism are equally crucial. This study investigates how reconstruction parameters, as well as existing objective quality metrics, align with human perception. In addition, we analyze how perceived quality and user interaction are related. A dataset of 3D models was generated by varying the number of input images, mesh complexity, and texture resolution. Results from a subjective study show that texture resolution significantly affects perceived quality, whereas variations in number of images and mesh complexity have a limited impact. Furthermore, interaction behavior was found to vary with perceived quality, with participants spending more time and exploring larger viewing angles for models receiving higher scores. These findings highlight the need for perceptually grounded, interaction-aware evaluation methodologies and provide guidelines for future perceptual optimization of 3D reconstruction pipelines.},
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2024
Ferrarotti, Anna; Baldoni, Sara; Carli, Marco; Battisti, Federica
Stress Assessment for Augmented Reality Applications Based on Head Movement Features Journal Article
In: IEEE Transactions on Visualization and Computer Graphics, vol. 30, no. 10, pp. 6970-6983, 2024.
@article{Ferrarotti_TVCG_2024,
title = {Stress Assessment for Augmented Reality Applications Based on Head Movement Features},
author = {Anna Ferrarotti and Sara Baldoni and Marco Carli and Federica Battisti},
doi = {10.1109/TVCG.2024.3385637},
year = {2024},
date = {2024-01-01},
urldate = {2024-01-01},
journal = {IEEE Transactions on Visualization and Computer Graphics},
volume = {30},
number = {10},
pages = {6970-6983},
abstract = {Augmented reality is one of the enabling technologies of the upcoming future. Its usage in working and learning scenarios may lead to a better quality of work and training by helping the operators during the most crucial stages of processes. Therefore, the automatic detection of stress during augmented reality experiences can be a valuable support to prevent consequences on people's health and foster the spreading of this technology. In this work, we present the design of a non-invasive stress assessment approach. The proposed system is based on the analysis of the head movements of people wearing a Head Mounted Display while performing stress-inducing tasks. First, we designed a subjective experiment consisting of two stress-related tests for data acquisition. Then, a statistical analysis of head movements has been performed to determine which features are representative of the presence of stress. Finally, a stress classifier based on a combination of Support Vector Machines has been designed and trained. The proposed approach achieved promising performances thus paving the way for further studies in this research direction.},
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2023
Baldoni, Sara; Sassi, Mohamed Saifeddine Hadj; Carli, Marco; Battisti, Federica
Definition of guidelines for virtual reality application design based on visual attention Journal Article
In: Multimedia Tools and Applications, pp. 1–26, 2023.
@article{baldoni2023definition,
title = {Definition of guidelines for virtual reality application design based on visual attention},
author = {Sara Baldoni and Mohamed Saifeddine Hadj Sassi and Marco Carli and Federica Battisti},
doi = {10.1007/s11042-023-17488-y},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
journal = {Multimedia Tools and Applications},
pages = {1–26},
publisher = {Springer},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2022
Baldoni, Sara; Battisti, Federica; Brizzi, Michele; Neri, Alessandro
GNSS-Imaging Data Fusion for Integrity Enhancement in Autonomous Vehicles Journal Article
In: IEEE Transactions on Aerospace and Electronic Systems, vol. 58, no. 5, pp. 4690-4704, 2022.
@article{Baldoni_TAES_2022,
title = {GNSS-Imaging Data Fusion for Integrity Enhancement in Autonomous Vehicles},
author = {Sara Baldoni and Federica Battisti and Michele Brizzi and Alessandro Neri},
url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9754275&isnumber=9915531},
doi = {10.1109/TAES.2022.3165771},
year = {2022},
date = {2022-04-08},
urldate = {2022-01-01},
journal = {IEEE Transactions on Aerospace and Electronic Systems},
volume = {58},
number = {5},
pages = {4690-4704},
abstract = {The transport sector is experiencing a fast and revolutionary development, moving toward the deployment of autonomous vehicles. Thus, the accuracy of the position information and the integrity of the navigation system have become key factors. In this article, we address the problem of the enhancement of the integrity of the position provided by a global navigation satellite system receiver by exploiting sensor fusion. To this aim, we estimate the lateral offset and heading of the vehicle with respect to a georeferenced roadway centerline from the images supplied by an on-board camera. Moreover, we perform integrity monitoring based on the implementation of the solution separation in the parity space. The numerical results indicate that the use of sensor fusion and digital map allows us to attain a longitudinal protection level reduction with respect to the case in which sensor fusion is not exploited. More specifically, a decrease of about 70% is achieved when a single constellation is used, while reduction is less relevant, about 15%, when two constellations are employed.},
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Baldoni, Sara; Carli, Marco; Battisti, Federica
Analysis of a 2D Representation for CPS Anomaly Detection in a Context-Based Security Framework Journal Article
In: Frontiers in Signal Processing, vol. 1, 2022.
@article{article,
title = {Analysis of a 2D Representation for CPS Anomaly Detection in a Context-Based Security Framework},
author = {Sara Baldoni and Marco Carli and Federica Battisti},
doi = {10.3389/frsip.2021.814129},
year = {2022},
date = {2022-01-01},
journal = {Frontiers in Signal Processing},
volume = {1},
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2021
Baldoni, Sara; Battisti, Federica; Carli, Marco; Pascucci, Federica
On the Use of Fibonacci Sequences for Detecting Injection Attacks in Cyber Physical Systems Journal Article
In: IEEE Access, vol. 9, pp. 41787-41798, 2021.
@article{Baldoni_Access_2021,
title = {On the Use of Fibonacci Sequences for Detecting Injection Attacks in Cyber Physical Systems},
author = {Sara Baldoni and Federica Battisti and Marco Carli and Federica Pascucci},
doi = {10.1109/ACCESS.2021.3065228},
year = {2021},
date = {2021-01-01},
journal = {IEEE Access},
volume = {9},
pages = {41787-41798},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2020
Baldoni, Sara; Battisti, Federica; Neri, Alessandro
On the Use of Differential Correction Clustering for Facing Spoofing Attacks to GNSS Augmentation Networks Journal Article
In: IEEE Access, vol. 8, pp. 219903-219922, 2020.
@article{Baldoni_Access_2020,
title = {On the Use of Differential Correction Clustering for Facing Spoofing Attacks to GNSS Augmentation Networks},
author = {Sara Baldoni and Federica Battisti and Alessandro Neri},
doi = {10.1109/ACCESS.2020.3042469},
year = {2020},
date = {2020-01-01},
journal = {IEEE Access},
volume = {8},
pages = {219903-219922},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2018
Battisti, Federica; Baldoni, Sara; Brizzi, Michele; Carli, Marco
A feature-based approach for saliency estimation of omni-directional images Journal Article
In: Signal Processing: Image Communication, vol. 69, pp. 53-59, 2018, (cited By 33).
@article{Battisti_SPIC_2018,
title = {A feature-based approach for saliency estimation of omni-directional images},
author = {Federica Battisti and Sara Baldoni and Michele Brizzi and Marco Carli},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85044536288&doi=10.1016%2fj.image.2018.03.008&partnerID=40&md5=b94843104e2f63e09d05eb6dc7a4553a},
doi = {10.1016/j.image.2018.03.008},
year = {2018},
date = {2018-01-01},
urldate = {2018-01-01},
journal = {Signal Processing: Image Communication},
volume = {69},
pages = {53-59},
note = {cited By 33},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Conference Proceedings
2025
Ferrarotti, Anna; Rodríguez, Isabel; Usón, Javier; Baldoni, Sara; Gutiérrez, Jesús; Berjón, Daniel; Morán, Francisco; Battisti, Federica; García, Narciso; Carli, Marco; Cabrera, Julián
Analysis of Objective 3D Mesh Quality Metrics for Cultural Heritage Proceedings Article
In: Proceedings of the 17th International Conference on Quality of Multimedia Experience (QoMEX), IEEE, 2025.
@inproceedings{Ferrarotti_QOMEX_2025_Mesh,
title = {Analysis of Objective 3D Mesh Quality Metrics for Cultural Heritage},
author = {Anna Ferrarotti and Isabel Rodríguez and Javier Usón and Sara Baldoni and Jesús Gutiérrez and Daniel Berjón and Francisco Morán and Federica Battisti and Narciso García and Marco Carli and Julián Cabrera},
doi = {https://dx.doi.org/10.1109/qomex65720.2025.11219903},
year = {2025},
date = {2025-09-30},
booktitle = {Proceedings of the 17th International Conference on Quality of Multimedia Experience (QoMEX)},
publisher = {IEEE},
abstract = {Extended reality technologies are increasingly used in cultural heritage for preserving and accessing sites and artworks, where 3D model acquisition and rendering are key. Despite progress in reconstruction methodologies, a standardized approach to quality assessment is still missing. This study aims to evaluate objective quality metrics —both image-based and model-based, Full Reference and No Reference— applied to 3D models generated using the Structure from Motion algorithm. By varying parameters such as the number of images, number of triangles, and texture resolution, we examine the impact of these factors on metric outcomes, aiming to assess their reliability in cultural heritage applications.},
keywords = {},
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tppubtype = {inproceedings}
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2024
Ferrarotti, Anna; Baldoni, Sara; Carli, Marco; Battisti, Federica
On the identification of the leading sensory cue in mulsemedia VR applications Proceedings Article
In: 2024 16th International Conference on Quality of Multimedia Experience (QoMEX), IEEE, 2024.
@inproceedings{Ferrarotti_QOMEX_2024,
title = {On the identification of the leading sensory cue in mulsemedia VR applications},
author = {Anna Ferrarotti and Sara Baldoni and Marco Carli and Federica Battisti},
doi = {10.1109/QoMEX61742.2024.10598293},
year = {2024},
date = {2024-06-18},
urldate = {2024-06-18},
booktitle = {2024 16th International Conference on Quality of Multimedia Experience (QoMEX)},
publisher = {IEEE},
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pubstate = {published},
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Ferrarotti, Anna; Baldoni, Sara; Carli, Marco; Battisti, Federica
Interaction goes virtual: towards collaborative XR Proceedings Article
In: Proceedings of the 2024 ACM International Conference on Interactive Media Experiences, ACM, 2024.
@inproceedings{Ferrarotti_IMX_2024,
title = {Interaction goes virtual: towards collaborative XR},
author = {Anna Ferrarotti and Sara Baldoni and Marco Carli and Federica Battisti},
doi = {10.1145/3639701.3661089},
year = {2024},
date = {2024-06-07},
urldate = {2024-06-07},
booktitle = {Proceedings of the 2024 ACM International Conference on Interactive Media Experiences},
publisher = {ACM},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2023
Baldoni, Sara; Battisti, Federica; Carli, Marco; Neri, Alessandro
A context-based framework for enhancing GNSS performance and security Proceedings Article
In: 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS), pp. 729-739, 2023.
@inproceedings{10140074,
title = {A context-based framework for enhancing GNSS performance and security},
author = {Sara Baldoni and Federica Battisti and Marco Carli and Alessandro Neri},
doi = {10.1109/PLANS53410.2023.10140074},
year = {2023},
date = {2023-01-01},
booktitle = {2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)},
pages = {729-739},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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Baldoni, Sara; Wahba, Mahmoud Z. A.; Carli, Marco; Battisti, Federica
A Study on the Impact of Virtual Reality on User Attention Proceedings Article
In: 2023 IEEE International Conference on Acoustics, Speech, and Signal Processing Workshops (ICASSPW), pp. 1-5, 2023.
@inproceedings{10193220,
title = {A Study on the Impact of Virtual Reality on User Attention},
author = {Sara Baldoni and Mahmoud Z. A. Wahba and Marco Carli and Federica Battisti},
doi = {10.1109/ICASSPW59220.2023.10193220},
year = {2023},
date = {2023-01-01},
booktitle = {2023 IEEE International Conference on Acoustics, Speech, and Signal Processing Workshops (ICASSPW)},
pages = {1-5},
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Baldoni, Sara; Poci, Ortisa; Calvagno, Giancarlo; Battisti, Federica
An Ablation Study on 360-Degree Saliency Estimation Proceedings Article
In: 2023 International Symposium on Image and Signal Processing and Analysis (ISPA), pp. 1-6, 2023.
@inproceedings{10279300,
title = {An Ablation Study on 360-Degree Saliency Estimation},
author = {Sara Baldoni and Ortisa Poci and Giancarlo Calvagno and Federica Battisti},
doi = {10.1109/ISPA58351.2023.10279300},
year = {2023},
date = {2023-01-01},
booktitle = {2023 International Symposium on Image and Signal Processing and Analysis (ISPA)},
pages = {1-6},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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2022
Baldoni, Sara; Battisti, Federica; Brizzi, Michele; Neri, Michael; Neri, Alessandro
A Semantic Segmentation-based Approach for Train Positioning Proceedings Article
In: ITM/PTTI Institute Of Navigation (ION), pp. 1380-1391, 2022.
@inproceedings{ion2022_baldoni,
title = {A Semantic Segmentation-based Approach for Train Positioning },
author = {Sara Baldoni and Federica Battisti and Michele Brizzi and Michael Neri and Alessandro Neri},
doi = {10.33012/2022.18164},
year = {2022},
date = {2022-01-25},
urldate = {2022-01-01},
booktitle = {ITM/PTTI Institute Of Navigation (ION)},
pages = {1380-1391},
keywords = {},
pubstate = {published},
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Baldoni, Sara; Battisti, Federica; Brizzi, Michele; Emmanuele, Giusy; Neri, Alessandro; Pallotta, Luca; Ruggeri, Agostino; Vennarini, Alessia
On the Design of High Accuracy Rail Digital Maps based on Sensor Fusion Proceedings Article
In: Proceedings of the 2022 International Technical Meeting of The Institute of Navigation, pp. 1420-1431, 2022.
@inproceedings{Baldoni_ION_2022,
title = {On the Design of High Accuracy Rail Digital Maps based on Sensor Fusion},
author = {Sara Baldoni and Federica Battisti and Michele Brizzi and Giusy Emmanuele and Alessandro Neri and Luca Pallotta and Agostino Ruggeri and Alessia Vennarini},
doi = {10.33012/2022.18188},
year = {2022},
date = {2022-01-01},
urldate = {2022-01-01},
booktitle = {Proceedings of the 2022 International Technical Meeting of The Institute of Navigation},
pages = {1420-1431},
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Casarin, Sofia; Baldoni, Sara; Carli, Marco; Zanuttigh, Pietro; Battisti, Federica
Unsupervised Network Anomaly Detection by Learning on 2D Data Representations Proceedings Article
In: 2022 9th Swiss Conference on Data Science (SDS), pp. 53-58, 2022.
@inproceedings{Casarin_SDS_2022,
title = {Unsupervised Network Anomaly Detection by Learning on 2D Data Representations},
author = {Sofia Casarin and Sara Baldoni and Marco Carli and Pietro Zanuttigh and Federica Battisti},
doi = {10.1109/SDS54800.2022.00016},
year = {2022},
date = {2022-01-01},
booktitle = {2022 9th Swiss Conference on Data Science (SDS)},
pages = {53-58},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2021
Neri, Alessandro; Capua, Roberto; Filip, Aleš; Ruggeri, Agostino; Baldoni, Sara
Integrity Bounds for Rail and Road Applications Based on Local Hazard Maps Proceedings Article
In: Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+), 2021.
@inproceedings{Neri_GNSS2021_map,
title = {Integrity Bounds for Rail and Road Applications Based on Local Hazard Maps},
author = {Alessandro Neri and Roberto Capua and Aleš Filip and Agostino Ruggeri and Sara Baldoni},
year = {2021},
date = {2021-01-01},
booktitle = {Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Neri, Alessandro; Battisti, Federica; Baldoni, Sara; Brizzi, Michele; Pallotta, Luca; Ruggeri, Agostino; Lauro, Gianluigi
High Accuracy High Integrity Train Positioning Based on GNSS and Image Processing Integration Proceedings Article
In: Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+), 2021.
@inproceedings{Neri_GNSS2021_voliera,
title = {High Accuracy High Integrity Train Positioning Based on GNSS and Image Processing Integration},
author = {Alessandro Neri and Federica Battisti and Sara Baldoni and Michele Brizzi and Luca Pallotta and Agostino Ruggeri and Gianluigi Lauro},
year = {2021},
date = {2021-01-01},
booktitle = {Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+)},
keywords = {},
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2020
Baldoni, Sara; Battisti, Federica; Brizzi, Michele; Neri, Alessandro
Virtual Track: A Vision-based Integrity Enhancement Proceedings Article
In: IEEE/ION Position, Location and Navigation Symposium (PLANS), 2020.
@inproceedings{Baldoni_Plans_2020_Virtual,
title = {Virtual Track: A Vision-based Integrity Enhancement},
author = {Sara Baldoni and Federica Battisti and Michele Brizzi and Alessandro Neri},
doi = {10.1109/PLANS46316.2020.9110219},
year = {2020},
date = {2020-01-01},
booktitle = {IEEE/ION Position, Location and Navigation Symposium (PLANS)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Baldoni, Sara; Battisti, Federica; Brizzi, Michele; Neri, Alessandro
A Hybrid Position Estimation Framework based on GNSS and Visual Sensor Fusion Proceedings Article
In: IEEE/ION Position, Location and Navigation Symposium (PLANS), 2020.
@inproceedings{Baldoni_Plans_2020_hybrid,
title = {A Hybrid Position Estimation Framework based on GNSS and Visual Sensor Fusion},
author = {Sara Baldoni and Federica Battisti and Michele Brizzi and Alessandro Neri},
doi = {10.1109/PLANS46316.2020.9110123},
year = {2020},
date = {2020-01-01},
booktitle = {IEEE/ION Position, Location and Navigation Symposium (PLANS)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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Baldoni, Sara; Celozzi, Giuseppe; Neri, Alessandro; Carli, Marco; Battisti, Federica
Inferring Anomaly Situation from Multiple Data Sources in Cyber Physical Systems Proceedings Article
In: International Workshop on Cyber-Physical Security for Critical Infrastructures Protection, Springer 2020.
@inproceedings{Baldoni_CPS4CIP_2020,
title = {Inferring Anomaly Situation from Multiple Data Sources in Cyber Physical Systems},
author = {Sara Baldoni and Giuseppe Celozzi and Alessandro Neri and Marco Carli and Federica Battisti},
year = {2020},
date = {2020-01-01},
booktitle = {International Workshop on Cyber-Physical Security for Critical Infrastructures Protection},
organization = {Springer},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2019
Neri, Alessandro; Baldoni, Sara; Capua, Roberto
On Cyber-security of Augmentation Networks Proceedings Article
In: Proceedings of the International Technical Meeting of The Institute of Navigation, 2019.
@inproceedings{Neri_ITM_2019,
title = {On Cyber-security of Augmentation Networks},
author = {Alessandro Neri and Sara Baldoni and Roberto Capua},
year = {2019},
date = {2019-01-01},
booktitle = {Proceedings of the International Technical Meeting of The Institute of Navigation},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Baldoni, Sara; Brizzi, Michele; Carli, Marco; Neri, Alessandro
A watermarking model for omni-directional digital images Proceedings Article
In: 11th International Symposium on Image and Signal Processing and Analysis (ISPA), pp. 240-245, 2019, (cited By 2).
@inproceedings{Baldoni_ISPA_2019,
title = {A watermarking model for omni-directional digital images},
author = {Sara Baldoni and Michele Brizzi and Marco Carli and Alessandro Neri},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85074424567&doi=10.1109%2fISPA.2019.8868789&partnerID=40&md5=73ef40cc0bcc8caf00c5088cdee1c893},
doi = {10.1109/ISPA.2019.8868789},
year = {2019},
date = {2019-01-01},
urldate = {2019-01-01},
booktitle = {11th International Symposium on Image and Signal Processing and Analysis (ISPA)},
volume = {2019-September},
pages = {240-245},
note = {cited By 2},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}