Publications
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2013
Detecting the
Correct Graph Structure in Pose Graph SLAM
1st
Workshop on Robust and Multimodal Inference in Factor Graphs
2013 IEEE Int. Conf.
Robotics and Automation, Karsrhure, Germany, May,
2013
Go straight, turn right: Pose Graph Reduction through Trajectory Segmentation
Y.
Latif and J. Neira
6th European Conference on Mobile Robots,
Sep 25-27, 2013, Barcelona
Robust Loop Closing
Over time for Pose Graph SLAM
Y.
Latif, C. Cadena and J. Neira
International Journal of
Robotics Research, published online 4 October 2013, DOI:
10.1177/0278364913498910
Real-time
6-DOF Multi-session Visual SLAM over Large Scale Environments
J.B. Mcdonald, M. Kaess,
C. Cadena, J. Neira, J.J. Leonard
Robotics and Autonomous
Systems, Volume 61, Issue
10, October 2013, Pages
1144–1158
2012
Robust Place Recognition with Stereo Sequences
C. Cadena, D. Gálvez,
J. D. Tardos, Neira
IEEE Transactions on Robotics, Vol. 28 (4), 871-885
Robust
Loop Closing Over Time
Y.
Latif, C. Cadena, J. Neira
Robotics
Science and Systems, Sydney, Australia, July 2012.
Realizing, Reversing, Recovering : Incremental Robust
Loop Closing over time using the iRRR algorithm
Y. Latif, C. Cadena, and J. Neira
2012 IEEE/RSJ Int.Conf.on Intelligent Robots
and Systems, October 7-12, 2012, Vilamoura, Portugal
Fast
Minimum Uncertainty Search on a Graph Map Representation
H.
Carrillo, Y. Latif, J. Neira and J.A. Castellanos
2012 IEEE/RSJ Int.Conf.on Intelligent Robots
and Systems, October 7-12, 2012, Vilamoura, Portugal
2011
Robotics: Science and Systems VI
Edited by Y. Matsuoka, H. Durrant-Whyte and J. Neira
The MIT Press, ISBN-13:
978-0-262-51681, September 2011
6-DOF Multi-session Visual SLAM using Anchor Nodes
J. McDonald, M. Kaess, C. Cadena,
J. Neira, J. Leonard
5th European Conference on Mobile Robotics, Sep 7-9, 2011, Örebro, Sweden
Place Recognition using Near and
Far Visual Information
C. Cadena, J. Mcdonald, J.
Leonard, J. Neira
18th World Congress of the International Federation of Automatic Control
(IFAC), August 28- September 2, Milano, Italy
2010
SLAM in O(log n) with the
Combined Kalman - Information Filter
C. Cadena, J. Neira
Robotics and Autonomous Systems, Volume 58, Issue 11, 30 November 2010,
Pages 1207-1219
Underwater SLAM for Structured Environments Using an Imaging Sonar
D. Ribas, P. Ridao, J. Neira
Springer Tracts in Advanced Robotics, Vol. 65, 2010, ISBN: 978-3-642-14039-6
Editorial:
Visual Navigation and Mapping Outdoors
C. Stachniss, S. Williams,
J. Neira
Journal of Field Robotics, Volume 27, Issue 5, September/October 2010.
Robust Place Recognition
with Stereo Cameras
C. Cadena, D. Gálvez, F. Ramos, J. D. Tardos,
J. Neira
2010 IEEE/RSJ Int.Conf.on Intelligent Robots
and Systems, October 18-22, Taipei, Taiwan
2009
Inside Data Association
J. Neira, U. Frese
Robotics and Autonomous Systems, Volume 57, Issue 12, December 2009.
A comparison
of loop closing techniques in monocular SLAM
B. Williams, M. Cummins, J. Neira,
P. Newman, I. Reid, J. D. Tardos
Robotics and Autonomous Systems, Volume 57, Issue 12, December 2009.
Efficient large
scale SLAM including data association using the Combined Filter
C. Cadena, F. Ramos and J. Neira
4th European Conference on Mobile Robotics, September 23-25,
2009, Mlini/Dubrovnik, Croatia
SLAM in O(log n) with the Combined Kalman -
Information Filter
C. Cadena and J. Neira
2009 IEEE/RSJ Int.Conf.on Intelligent Robots
and Systems, October 11-15, St. Louis, USA
Finding good
cycle constraints for large scale multi-robot SLAM
C. Estrada, J. Neira and J. D. Tardos
2009 IEEE Int. Conf. Robotics and Automation, Kobe, Japan, May, 2009.
Guest editorial:
selected papers from Robotics: Science and Systems 2008
J. Neira and J. Trinkle
Autonomous Robots, Vol 26, Number 2, April, 2009.
2008
Underwater SLAM
in Man-Made Structured Environments
D. Ribas, P. Ridao, J. D.
Tardos and J. Neira
Journal of Field Robotics, Vol
25, No 11-12, pp 898-921. November 2008.
Guest
Editorial, Special Issue on Visual SLAM
J. Neira, AJ Davison, J. Leonard
IEEE Transactions on Robotics Vol 24, Number
5, pp 929-931, October 2008
Large Scale
6DOF SLAM with Stereo-in-Hand
L.M.
Paz, P. Piníes, J.D. Tardós, J. Neira
IEEE Transactions on Robotics Vol 24, Number
5, pp 946-957, October 2008
Divide and Conquer: EKF SLAM in O(n)
L.M.
Paz, J.D. Tardós, J. Neira
IEEE Transactions on Robotics Vol 24, Number
5, pp 1107-1120, October 2008
An
Image–to–map Loop Closing Method for Monocular SLAM
B. Williams, M. Cummins, J. Neira,
P. Newman, I. Reid, J. D. Tardos
2008 IEEE/RSJ International Conference on Intelligent
Robots and Systems, Nice, France. September 22,2008.
A
comparison of loop closing techniques in monocular SLAM
B. Williams, M. Cummins, J. Neira,
P. Newman, I. Reid, J. D. Tardos
Robotics: Science and Systems.
Inside Data Association Workshop. Zurich, Switzerland, June 28, 2008
2007
A Method for
Extracting Lines and their Uncertainty from Acoustic Underwater Images for SLAM
D. Ribas, P. Ridao, J. Neira and J. D. Tardós
6th IFAC
Symposium on Intelligent Autonomous Vehicles, Toulouse, France, September 3-5 2007
Line Extraction
from Mechanically Scanned Imaging Sonar
D. Ribas, P. Ridao, J. Neira and J. D. Tardós
3rd Iberian
Conference on Pattern Recognition and Image Analysis, Girona,
Spain, June 6-8, 2007.
LNCS 4477, pp. 322–329, 2007.
Mapping Large
Loops with a Single Hand-Held Camera
L. Clemente, A. Davison, I. Reid, J. Neira and J.D. Tardós
2007 Robotics:
Science and Systems, June 27-30, Atlanta, USA
Data association in O(n) for Divide and Conquer SLAM
L.M. Paz, J. Guivant, J.D. Tardós
and J. Neira
2007 Robotics:
Science and Systems, June 27-30, Atlanta, USA
EKF SLAM updates in O(n) with Divide and Conquer SLAM
L.M. Paz, P. Jensfelt, J.D. Tardós
and J. Neira
2007 IEEE Int.
Conf. Robotics and Automation, Rome, Italy, April,
2007.
Robocentric Map Joining: Improving the Consistency of EKF-SLAM
J.A. Castellanos, R. Martinez-Cantin,
J.D. Tardós and J. Neira
Robotics and
Autonomous Systems, Volume 55, Issue 1, Pages 21-2, 31 January 2007
2006
Map Building and
SLAM Algorithms
J.A. Castellanos, J. Neira,
J. D. Tardós
Autonomous
Mobile Robots: Sensing, Control, Decision-Making and Applications. Shuzhi Sam Ge, Frank L. Lewis (eds) T&F,
May 2006
AUV Localization
in Structured Underwater Environments using an A Priori Map
D. Ribas, P. Ridao, J. Neira, J.D. Tardós
MCMC´2006 -
7th Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal,
September 20-22, 2006
Optimal Local Map Size for EKF-based SLAM
L.M. Paz, J. Neira
2006 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems, October 9-15,
Beijing, China
Localization of
Avalanche Victims Using Robocentric SLAM
P. Piníes, Juan D. Tardós,
J. Neira
2006 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems, October 9-15,
Beijing, China
SLAM using an Imaging
Sonar for Partially Structured Underwater Environments
D. Ribas, P. Ridao, J. Neira, J. D. Tardós
2006 IEE/RSJ Int.Conf.on Intelligent Robots and Systems, October 9-15,
Beijing, China
2005
Hierarchical SLAM: real-time accurate mapping of large
environments
C. Estrada, J. Neira, J.D. Tardós
IEEE Transactions on Robotics, Vol: 21, Issue: , pages: 588- 596, August 2005
Global Localization in SLAM in Bilinear Time
L.M. Paz, P. Piníes, J. Neira,
J.D. Tardós
2005 IEE/RSJ Int.Conf.on Intelligent Robots and Systems, August 2-6,
Edmonton, Canada
2004
Limits to the Consistency of EKF-based SLAM
J.A. Castellanos, J. Neira,
J.D. Tardós
5th IFAC
Symposium on Intelligent Autonomous Vehicles, Lisbon, July 2004.
Relocation using Laser and Vision
D. Ortín, J. Neira, J.M.M. Montiel
2004 IEEE Int.
Conf. Robotics and Automation, New Orleans, USA, April,
2004.
2003
Linear time vehicle relocation in
SLAM
J. Neira, J.D. Tardós, J.A.
Castellanos
2003 IEEE Int. Conf. Robotics and
Automation, Taipei, Taiwan, May, 2003.
2002
Explore and Return: Experimental Validation of Real
Time Concurrent Mapping and Localization
P. M. Newman, J. J. Leonard, J. Neira and J.D. Tardós.
2002 IEEE Int. Conf.
Robotics and Automation, Washington D.C., May, 2002,
pp 1802-1809.
Robust Mapping and Localization in
Indoor Environments using Sonar Data
J.D. Tardós, J. Neira, P.
Newman, and J. Leonard.
The
International Journal of Robotics Research, Vol.
21, No. 4, April, 2002, pp 311 –330
Towards Robust
Data Association and Feature Modeling for Concurrent
Mapping and Localization
J. J. Leonard, P. M. Newman, R. J. Rikoski, J. Neira, and J. D.Tardós.
10th International Symposium of Robotics Research (ISRR'2001). Nov, 2001, Lorne,
Victoria, Australia.
Robotics Research, the Tenth International Symposium. Ray Jarvis and Alex Zelinsky
(eds.). Springer-Verlag, 2002.
2001
Data Association
in Stochastic Mapping using the Joint Compatibility Test
J. Neira and Juan D. Tardós
IEEE
Transactions on Robotics and Automation Vol. 17, No. 6, Dec 2001, pp 890 –897
Multisensor Fusion for Simultaneous Localization and Map
Building
J.A. Castellanos, J. Neira and J.D. Tardós
IEEE
Transactions on Robotics and Automation Vol. 17, No.
6, Dec 2001, pp 908 –911
2000
Sensor Influence
in the Performance of Simultaneous Mobile Robot Localization and Map Building
J.A. Castellanos, J.M.M. Montiel,
J. Neira and J.D. Tardós
Sixth Int. Symp. on Experimental Robotics,
ISER'99, Sydney, Australia, 26-28 March 1999, pp. 203 - 212.
Experimental Robotics VI, Peter Corke
and James Trevelyan (eds.), Lecture Notes in Control and Information Sciences,
Vol. 250, pp. 287-296, Springer Verlag,
2000.
1999
The SPmap: A Probabilistic Framework for Simultaneous
Localization and Map Building
J.A. Castellanos, J.M.M. Montiel,
J. Neira and J.D. Tardós.
IEEE Transactions on Robotics and Automation Vol. 15, No. 5, Oct 1999, pp 948-953.
Continuous
Mobile Robot Localization: Vision vs. Laser
J.A. Pérez, J.A. Castellanos,
J.M.M. Montiel, J. Neira
and J.D. Tardós
1999 IEEE Int. Conf. on Robotics and Automation,
ICRA'99, Detroit, Michigan, USA, 10-15 May 1999.
Fusing Range and
Intensity Images for Mobile Robot Localization
Neira J., Horn J., Tardós
J.D. and Schmidt G.
IEEE
Transactions on Robotics and Automation, Vol. 15, No. 1, Feb 1999, pp 76-84.
1998
Simultaneous Map
Building and Localization for Mobile Robots: A Multisensor
Fusion Approach
J.A. Castellanos, J.M. Martínez,
J. Neira and J.D. Tardós
1998 IEEE Int.
Conf. on Robotics and Automation, ICRA'98 , Leuven,
Belgium, 16-21 May 1998, pp. 1244-1249.
Experiments in
Multisensor Mobile Robot Localization and Map
Building
J.A. Castellanos, J.M. Martínez,
J. Neira and J.D. Tardós
3rd IFAC Symp. on Intelligent Autonomous
Vehicles, IAV'98 , Universidad Carlos III, Madrid, Spain, 25-27 March 1998, pp.
173-178.
1997
Mobile Robot
Localization and Map Building using Monocular Vision
J. Neira, M. I. Ribeiro and
J.D. Tardós
5th Int. Symp. on Intelligent Robotic
Systems ' 97, pages 275-284, Stockholm, Sweden, 8-11 Jul 1997.
1996
Detecting High
Level Features for Mobile Robot Localization
J.A. Castellanos, J. Neira,
O. Strauss and J.D. Tardós.
1996 IEEE Int. Conf. on Multisensor Fusion and
Integration, MFI'96 , Washington D.C., USA, 8-11 Dec 1996.
Mobile Robot
Localization using Range and Vision
Neira J., Horn J., Tardós
J.D. and Schmidt G.
Advances in
Robotics. The ERNET Perspective, edited by C. Bonivento et al., World Scientific Publishing Co., New
Jersey, USA, September 1996, pages 183-190.
Multisensor Mobile Robot Localization
Neira J., Horn J., Tardós
J.D. and Schmidt G.
IEEE Int.
Conf. on Robotics and Automation ICRA'96, pages
673-679, Minneapolis, USA, May 1996.
Constraint-Based
Mobile Robot Localization
José A. Castellanos, Juan D. Tardós
and José Neira.
Int. Workshop
on Advanced Robotics and Intelligent Machines, ARIM'96 ,
Paper No. 14, University of Salford, Manchester, U.K.,
2-3 April 1996.
1993
Selective Attention
in Multisensor Object Recognition
Neira J., Tardós J.D., Montano L.
IEEE Int.
Conf. on Systems, Man and Cybernetics, pages
5:158-5:164, Le Touquet, France, October 1993.
Geometric Object Recognition in Multisensor
Systems
J. Neira
PhD Thesis,
Dep. Ingeniería Eléctrica e
Informática, Universidad de Zaragoza, Agosto. 1993, 225 pages.
Goal-Directed Perception in Multisensor
Object Recognition Systems
Neira J., Tardós J.D., Montano L.
IEEE Int. Conf. on Intelligent Control, pages 338-345, Chicago, USA, August
1993.
Constraint-Based Object Recognition in Multisensor
Systems
Neira J., Montano L., Tardós
J.D.
IEEE Int. Conf. on Robotics
and Automation, pages 3:135-3:142, Atlanta, Georgia, May 1993.
1992
Multisensor Object Recognition under Uncertainty
Tardós J.D., Neira J., Montano L.
23rd Int. Symp. on Industrial Robots, pages
41-46, Barcelona, Spain, October 1992.
Past events
ˇ
IAV
2010: IFAC 7th Symposium on Intelligent Autonomous Vehicles,, September 6-8, 2010, Lecce, Italia.
ˇ
RSS 2010: Robotics: Science and Systems, June 29-July 2, Zaragoza,
Spain
ˇ
IROS
2009: 2009 IEEE/RSJ Int. Conf. on Intelligent
Robots and Systems, October 11-15, St. Louis, USA
ˇ
ECMR-09:
4th European Conference on Mobile Robots, September 23-25, Mlini/Dubrovnik,
Croatia
ˇ
IJCAI-09:
Twenty-first International Joint Conference on Artificial Intelligence, July 11
- 17, Pasadena, USA
ˇ
RSS 2009: Robotics: Science and Systems, June 28-July 1, Seattle, WA,
USA
ˇ
ICRA 2009: IEEE Intl. Conf. on Robotics and
Automation, May 12-17, Kobe, Japan
ˇ
SAC 2009: 24rd Annual ACM Symposium on Applied Computing, Special
track on Robotics: Hardware, Software and Embedded Systems, March 8 - 12, 2009, Waikiki
Beach, Honolulu, Hawaii, USA
ˇ
SAC 2008: 23rd Annual ACM Symposium on Applied
Computing, Special track on Robotics: Hardware, Software and Embedded Systems, March 16-20, Fortaleza, Brasil
ˇ
ICRA 2008, IEEE Intl. Conf. on
Robotics and Automation, May 19-23, Pasadena, USA
ˇ
IROS 2007: IEEE/RSJ International Conference on Intelligent Robots
and Systems, October
29 – November 2, San Diego, USA
ˇ
CEDI 2007: II Congreso Espańol de Informática, Septiembre 11
– 14, Zaragoza, Spain
ˇ
ROBOT2007: I
Workshop de Robótica, Septiembre 11 – 14, Zaragoza, Spain
ˇ
RSS 2007:
(member of the program committee) 2007 Robotics: Science and Systems
Conference, June
27-30, Atlanta, USA
ˇ
ICRA 2007: IEEE International Conference on Robotics and
Automation, April 10-14, 2007, Rome, Italy
ˇ
Tutorial
on Active estimation in Mobile Robotics: at IROS 2006, Beijing, China, October 10, 2006
ˇ
SLAM
Summer School 2006: Oxford, UK – August 27-31, 2006
ˇ
IROS 2005 Advanced Tutorial on SLAM: Getting
it Working in Real World Applications, August 2, 2005, Edmonton, Canada
ˇ
ICRA 2005:
IEEE International
Conference on Robotics and Automation, April 18-22, 2005, Barcelona, Spain
ˇ
SLAM Summer School
2004: 2nd Summer School on Simultaneous Localisation and
Mapping, August 3 - 7, 2004, Toulouse, France
ˇ
IAV 2004: 5th
IFAC Symposium on Intelligent Autonomous Vehicles, Lisbon, from 5 to 7 July
2004.
ˇ
ICRA 2004:
IEEE International
Conference on Robotics and Automation, April, 2003, New Orleans, USA
ˇ
ICRA 2003:
IEEE International
Conference on Robotics and Automation, May 12-17 2003, Taipei, Taiwan
ˇ
ICRA 2002:
IEEE International
Conference on Robotics and Automation, May 11-15 2002, Washington, USA
ˇ
SIRS 2001 ,
9th Symposium
on Intelligent Robotic Systems , July 18-20 2001, Toulouse,
France.
ˇ
ICRA 2001: IEEE
International
Conference on Robotics and Automation, May 21-26 2001, Seoul, Korea
ˇ
ICRA 2000: IEEE
International
Conference on Robotics and Automation, April 24-28 2000, San Francisco, USA
ˇ
W4: Workshop Mobile Robot
Navigation and Mapping ,
at ICRA 2000 , April 28 2000, San Francisco, USA
ˇ
ISRR'99 :
9th International Symposium of Robotics Research, October 9-12, 1999, Snowbird,
USA
Coauthors
From my institution:
ˇ César Cadena
ˇ José A. Castellanos
ˇ Rubén Martínez-Cantín
ˇ Laura Clemente
ˇ José M. Martínez-Montiel
ˇ Luis Montano
ˇ Diego Ortín
ˇ Lina Paz
ˇ José Antonio Pérez
ˇ Pedro Pinies
ˇ Juan Tardós
ˇ Carlos Sagüés
From other institutions:
ˇ Marc Cummins, Univ.
Oxford
ˇ Andrew Davison, Imperial
College London
ˇ Patric
Jensfelt, KTH Sweden
ˇ José Guivant, Univ. Sydney
ˇ Joaquim
Horn, TU Munich
ˇ John Leonard, MIT
ˇ Paul Newman, Univ.
Oxford
ˇ Fabio Ramos, Univ. Sydney
ˇ Ian Reid, Univ. Oxford
ˇ David Ribas,
Univ. Girona
ˇ Pere Ridao, Univ. Girona
ˇ Isabel Ribeiro,
IST Lisbon
ˇ Rick Rikoski, MIT
ˇ Günter Schmidt, TU Munich
ˇ Cyrill Stachniss,
Univ. Freiburg
ˇ Brian Williams, Univ.
Oxford
ˇ Stefan Williams, Univ. Sydney
Statistics: 