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Juan Nieto

Autonomous Systems Lab, ETH Zurich, Switzerland

Mesh Manifold based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles


Feb 20, 2021
Michael Pantic, Lionel Ott, Cesar Cadena, Roland Siegwart, Juan Nieto

* Accepted to RA-L 2021. Video available at https://youtu.be/S9gRr_ryREo 

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Hough2Map -- Iterative Event-based Hough Transform for High-Speed Railway Mapping


Feb 18, 2021
Florian Tschopp, Cornelius von Einem, Andrei Cramariuc, David Hug, Andrew William Palmer, Roland Siegwart, Margarita Chli, Juan Nieto

* Florian Tschopp, Cornelius von Einem, and Andrei Cramariuc contributed equally to this work 

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PHASER: a Robust and Correspondence-free Global Pointcloud Registration


Feb 03, 2021
Lukas Bernreiter, Lionel Ott, Juan Nieto, Roland Siegwart, Cesar Cadena

* IEEE Robotics and Automation Letters ( Volume: 6, Issue: 2, April 2021) 

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Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots


Jan 20, 2021
Weixuan Zhang, Lionel Ott, Marco Tognon, Roland Siegwart, Juan Nieto


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Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter


Jan 04, 2021
Michel Breyer, Jen Jen Chung, Lionel Ott, Roland Siegwart, Juan Nieto

* Conference on Robot Learning (CoRL), 2020 

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Multiple Hypothesis Semantic Mapping for Robust Data Association


Dec 08, 2020
Lukas Bernreiter, Abel Gawel, Hannes Sommer, Juan Nieto, Roland Siegwart, Cesar Cadena

* IEEE Robotics and Automation Letters ( Volume: 4, Issue: 4, Oct. 2019) 

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NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments


Dec 08, 2020
Daniel Dugas, Juan Nieto, Roland Siegwart, Jen Jen Chung

* Pre-print, submitted to ICRA 2021 

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Out-of-Distribution Detection for Automotive Perception


Nov 03, 2020
Julia Nitsch, Masha Itkina, Ransalu Senanayake, Juan Nieto, Max Schmidt, Roland Siegwart, Mykel J. Kochenderfer, Cesar Cadena

* 7 pages, 7 figures 

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Freetures: Localization in Signed Distance Function Maps


Oct 21, 2020
Alexander Millane, Helen Oleynikova, Christian Lanegger, Jeff Delmerico, Juan Nieto, Roland Siegwart, Marc Pollefeys, Cesar Cadena


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Autonomous Extension of a Symbolic Mobile Manipulation Skill Set


Oct 20, 2020
Julian Förster, Juan Nieto, Lionel Ott, Roland Siegwart, Jen Jen Chung

* An accompanying video is available here: https://youtu.be/Dm1I82moJuY. This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible 

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A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift


Oct 19, 2020
Lukas Schmid, Victor Reijgwart, Lionel Ott, Juan Nieto, Roland Siegwart, Cesar Cadena


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Freetures:Localization in Signed Distance Function Maps


Oct 19, 2020
Alexander Millane, Helen Oleynikova, Christian Lanegger, Jeff Delmerico, Juan Nieto, Roland Siegwart, Marc Pollefeys, Cesar Cadena


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IDOL: A Framework for IMU-DVS Odometry using Lines


Aug 13, 2020
Cedric Le Gentil, Florian Tschopp, Ignacio Alzugaray, Teresa Vidal-Calleja, Roland Siegwart, Juan Nieto

* Cedric Le Gentil and Florian Tschopp contributed equally to this work 

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Learning dynamics for improving control of overactuated flying systems


Jun 23, 2020
Weixuan Zhang, Maximilian Brunner, Lionel Ott, Mina Kamel, Roland Siegwart, Juan Nieto

* 8 pages, accepted by IEEE Robotics and Automation Letters 

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Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps


Apr 27, 2020
Victor Reijgwart, Alexander Millane, Helen Oleynikova, Roland Siegwart, Cesar Cadena, Juan Nieto

* IEEE Robotics and Automation Letters 5.1 (2019): 227-234 
* 8 pages, 9 figures 

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Go Fetch: Mobile Manipulation in Unstructured Environments


Apr 02, 2020
Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian Förster, Margarita Grinvald, Florian Tschopp, Jen Jen Chung, Lionel Ott, Juan Nieto, Roland Siegwart

* Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian F\"orster, Margarita Grinvald, and Florian Tschopp contributed equally to this work 

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Active Interaction Force Control for Omnidirectional Aerial Contact-Based Inspection


Apr 01, 2020
Karen Bodie, Maximilian Brunner, Michael Pantic, Stefan Walser, Patrick Pfändler, Ueli Angst, Roland Siegwart, Juan Nieto

* 12 pages, 18 figures. arXiv admin note: text overlap with arXiv:1905.03502 

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Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight


Mar 20, 2020
Mike Allenspach, Karen Bodie, Maximilian Brunner, Luca Rinsoz, Zachary Taylor, Mina Kamel, Roland Siegwart, Juan Nieto

* 16 pages, 24 figures, 3 page appendix, video available at https://youtu.be/mBi9mOQaZzQ 

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MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments


Mar 03, 2020
Lukas Schaupp, Patrick Pfreundschuh, Mathias Buerki, Cesar Cadena, Roland Siegwart, Juan Nieto


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Whole-Body Control of a Mobile Manipulator using End-to-End Reinforcement Learning


Feb 25, 2020
Julien Kindle, Fadri Furrer, Tonci Novkovic, Jen Jen Chung, Roland Siegwart, Juan Nieto

* 6 pages, 6 figures, 2 tables, submitted to RA-L/IROS 

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VersaVIS: An Open Versatile Multi-Camera Visual-Inertial Sensor Suite


Dec 05, 2019
Florian Tschopp, Michael Riner, Marius Fehr, Lukas Bernreiter, Fadri Furrer, Tonci Novkovic, Andreas Pfrunder, Cesar Cadena, Roland Siegwart, Juan Nieto


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Object Finding in Cluttered Scenes Using Interactive Perception


Nov 18, 2019
Tonci Novkovic, Remi Pautrat, Fadri Furrer, Michel Breyer, Roland Siegwart, Juan Nieto


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Building an Aerial-Ground Robotics System for Precision Farming


Nov 08, 2019
Alberto Pretto, Stéphanie Aravecchia, Wolfram Burgard, Nived Chebrolu, Christian Dornhege, Tillmann Falck, Freya Fleckenstein, Alessandra Fontenla, Marco Imperoli, Raghav Khanna, Frank Liebisch, Philipp Lottes, Andres Milioto, Daniele Nardi, Sandro Nardi, Johannes Pfeifer, Marija Popović, Ciro Potena, Cédric Pradalier, Elisa Rothacker-Feder, Inkyu Sa, Alexander Schaefer, Roland Siegwart, Cyrill Stachniss, Achim Walter, Wera Winterhalter, Xiaolong Wu, Juan Nieto

* Submitted to IEEE Robotics & Automation Magazine 

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SegMap: Segment-based mapping and localization using data-driven descriptors


Sep 27, 2019
Renaud Dubé, Andrei Cramariuc, Daniel Dugas, Hannes Sommer, Marcin Dymczyk, Juan Nieto, Roland Siegwart, Cesar Cadena

* arXiv admin note: substantial text overlap with arXiv:1804.09557 

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An Efficient Sampling-based Method for Online Informative Path Planning in Unknown Environments


Sep 20, 2019
Lukas Schmid, Michael Pantic, Raghav Khanna, Lionel Ott, Roland Siegwart, Juan Nieto

* 8 pages, 9 figures, video: https://youtu.be/lEadqJ1_8Do 

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Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping


Aug 23, 2019
Timo Hinzmann, Cesar Cadena, Juan Nieto, Roland Siegwart

* Preprint of a paper presented at the IEEE International Conference on Intelligent Robots and Systems (IROS) 2019 

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Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps


Aug 05, 2019
Alexander Millane, Helen Oleynikova, Juan Nieto, Roland Siegwart, CĂ©sar Cadena


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Revisiting Boustrophedon Coverage Path Planning as a Generalized Traveling Salesman Problem


Jul 22, 2019
Rik Bähnemann, Nicholas Lawrance, Jen Jen Chung, Michael Pantic, Roland Siegwart, Juan Nieto

* 14 pages, submitted and accepted to FSR 2019, Tokyo, Japan 

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The Fishyscapes Benchmark: Measuring Blind Spots in Semantic Segmentation


May 13, 2019
Hermann Blum, Paul-Edouard Sarlin, Juan Nieto, Roland Siegwart, Cesar Cadena


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