Get our free extension to see links to code for papers anywhere online!

Chrome logo Add to Chrome

Firefox logo Add to Firefox

Picture for Juan Nieto

Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency


Sep 21, 2021
Lukas Schmid, Jeffrey Delmerico, Johannes Schönberger, Juan Nieto, Marc Pollefeys, Roland Siegwart, Cesar Cadena

* 8 pages, 10 pages, code will be made available upon publication 

  Access Paper or Ask Questions

Superquadric Object Representation for Optimization-based Semantic SLAM


Sep 20, 2021
Florian Tschopp, Juan Nieto, Roland Siegwart, Cesar Cadena


  Access Paper or Ask Questions

SemSegMap- 3D Segment-Based Semantic Localization


Jul 30, 2021
Andrei Cramariuc, Florian Tschopp, Nikhilesh Alatur, Stefan Benz, Tillmann Falck, Marius Bruehlmeier, Benjamin Hahn, Juan Nieto, Roland Siegwart


  Access Paper or Ask Questions

TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction


May 16, 2021
Margarita Grinvald, Federico Tombari, Roland Siegwart, Juan Nieto

* 7 pages, 3 figures. To be published in the 2021 IEEE International Conference on Robotics and Automation (ICRA). Code is available at https://github.com/ethz-asl/tsdf-plusplus and the accompanying video material can be found at https://youtu.be/dSJmoeVasI0 

  Access Paper or Ask Questions

Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd


Apr 29, 2021
Fabien Grzeskowiak, David Gonon, Daniel Dugas, Diego Paez-Granados, Jen Chung, Juan Nieto, Roland Siegwart, Aude Billard, Marie Babel, Julien Pettré

* ICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xian, China 

  Access Paper or Ask Questions

Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems


Apr 17, 2021
Lukas Bernreiter, Lionel Ott, Juan Nieto, Roland Siegwart, Cesar Cadena

* Accepted for IEEE International Conference on Robotics and Automation, 2021 

  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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) 

  Access Paper or Ask Questions

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


  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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) 

  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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


  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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


  Access Paper or Ask Questions

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


  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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


  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions

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


  Access Paper or Ask Questions

Object Finding in Cluttered Scenes Using Interactive Perception


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


  Access Paper or Ask Questions

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 

  Access Paper or Ask Questions