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

 

·      IAV 2010:  IFAC 7th Symposium on Intelligent Autonomous Vehicles,, September 6-8, 2010, Lecce, Italia.

·      RSS 2010:  Robotics: Science and Systems, June 29-July 2, Zaragoza, Spain

·      IROS 2009: 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, October 11-15, St. Louis, USA

·      ECMR-09: 4th European Conference on Mobile Robots, September 23-25, Mlini/Dubrovnik, Croatia

·      IJCAI-09: Twenty-first International Joint Conference on Artificial Intelligence, July 11 - 17, Pasadena, USA

·      RSS 2009:  Robotics: Science and Systems, June 28-July 1, Seattle, WA, USA

·      ICRA 2009:  IEEE Intl. Conf. on Robotics and Automation, May 12-17, Kobe, Japan

·      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

·      SAC 2008: 23rd Annual ACM Symposium on Applied Computing, Special track on Robotics: Hardware, Software and Embedded Systems,  March 16-20, Fortaleza, Brasil

·      ICRA 2008,  IEEE Intl. Conf. on Robotics and Automation, May 19-23, Pasadena, USA

·      IROS 2007:   IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29 – November 2, San Diego, USA

·      CEDI 2007: II Congreso Español de Informática, Septiembre 11 – 14, Zaragoza, Spain

·      ROBOT2007: I Workshop de Robótica, Septiembre 11 – 14, Zaragoza,  Spain

·      RSS 2007:  (member of the program committee) 2007 Robotics: Science and Systems Conference, June 27-30, Atlanta, USA

·      ICRA 2007:  IEEE International Conference on Robotics and Automation, April 10-14, 2007, Rome, Italy

·      Tutorial on Active estimation in Mobile Robotics: at IROS 2006, Beijing, China, October 10, 2006

·      SLAM Summer School 2006: Oxford, UK – August 27-31, 2006

·      IROS 2005 Advanced Tutorial on SLAM: Getting it Working in Real World Applications, August 2, 2005, Edmonton, Canada

·      ICRA 2005:  IEEE International Conference on Robotics and Automation, April 18-22, 2005, Barcelona, Spain

·      SLAM Summer School 2004:  2nd Summer School on Simultaneous Localisation and Mapping, August 3 - 7, 2004, Toulouse, France

·      IAV 2004:  5th IFAC Symposium on Intelligent Autonomous Vehicles, Lisbon, from 5 to 7 July 2004.

·      ICRA 2004:  IEEE International Conference on Robotics and Automation, April, 2003, New Orleans, USA

·      ICRA 2003:  IEEE International Conference on Robotics and Automation, May 12-17 2003, Taipei, Taiwan

·      ICRA 2002:  IEEE International Conference on Robotics and Automation, May 11-15 2002, Washington, USA

·      SIRS 2001 ,  9th Symposium on Intelligent Robotic Systems ,  July 18-20 2001, Toulouse,  France.

·      ICRA 2001: IEEE International Conference on Robotics and Automation, May 21-26 2001, Seoul, Korea

·      ICRA 2000: IEEE International Conference on Robotics and Automation, April 24-28 2000, San Francisco, USA

·      W4: Workshop Mobile Robot Navigation and Mapping , at ICRA 2000 , April 28 2000, San Francisco, USA

·      ISRR'99 : 9th International Symposium of Robotics Research, October 9-12, 1999, Snowbird, USA


Coauthors

From my institution:

·      César Cadena

·      José A. Castellanos

·      Rubén Martínez-Cantín

·      Laura Clemente

·      José M. Martínez-Montiel

·      Luis Montano

·      Diego Ortín

·      Lina Paz

·      José Antonio Pérez

·      Pedro Pinies

·      Juan Tardós

·      Carlos Sagüés

 

From other institutions:

·      Marc Cummins, Univ. Oxford

·      Andrew Davison, Imperial College London

·      Patric Jensfelt, KTH Sweden

·      José Guivant, Univ. Sydney

·      Joaquim Horn, TU Munich

·      John Leonard, MIT

·      Paul Newman, Univ. Oxford

·      Fabio Ramos, Univ. Sydney

·      Ian Reid, Univ. Oxford

·      David Ribas, Univ. Girona

·      Pere Ridao, Univ. Girona

·      Isabel Ribeiro, IST Lisbon

·      Rick Rikoski, MIT

·      Günter Schmidt, TU Munich

·      Cyrill Stachniss, Univ. Freiburg

·      Brian Williams, Univ. Oxford

·      Stefan Williams, Univ. Sydney


 

Statistics: 

jneira at unizar.es