Homepage Juan Nieto



 

 Publications

PhD Thesis

Juan Nieto, “Detailed Environment Representation for the SLAM Problem”, Australian Centre for Field Robotics, University of Sydney, March, 2005.

 

 

Recent Publications

· J. Nieto, J. Guivant and E. Nebot, “DenseSLAM: Simultaneous Localisation and Dense Mapping”. The International Journal of Robotics Research Vol. 25, No. 8, August 2006, pp. 711-744 DOI: 10.1177/0278364906067379 ©2006 SAGE Publications. (IJRR-Sage web version here)

More information

· J. Nieto, T. Bailey and E. Nebot, “Recursive Scan-Matching SLAM”.  Journal of Robotics and Autonomous Systems, Volume 55, Issue 1, January 2007. Pages 39-49.

This paper attempts to combine the best of EKF-SLAM and scan-matching. The idea is that EKF-SLAM has nice convergence properties, while scan-matching allows us to define landmarks without resorting to geometric feature models. The result is EKF-SLAM with arbitrary shaped landmarks. It is important to keep in mind that the contribution of this paper is not its implementation, which is somewhat ad hoc, but rather the concept that EKF-SLAM is not limited to analytical geometric landmark models. This paper proposes that any set of observed data can give an approximately Gaussian observation model amenable to the EKF. The universal observation model for SLAM is that the location of any object can observed by a relative measurement of one local coordinate frame (a landmark) from another local frame (the robot). A landmark can have arbitrary shape, but will always have a point location defined by an embedded local frame.

· F. Ramos, J. Nieto and H. Durrant-Whyte. “Combining Object Recognition and SLAM for Extended Map Representations”. In Proceedings ISER, International Symposium on Experimental Robotics 2006.

See a movie of Fabio’s work here.

· Tim Bailey, Juan Nieto, Jose Guivant, Michael Stevens and Eduardo Nebot, “Consistency of the EKF-SLAM Algorithm”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006.

See Tim’s webpage for a discussion about this paper.

 

· Tim Bailey, Juan Nieto and Eduardo Nebot, “Consistency of the FastSLAM Algorithm”, IEEE International Conference on Robotics and Automation (ICRA 06), 2006.

See Tim’s webpage for a discussion about this paper.

 

See all my publications here

 

  Teaching

I teach Introduction to Mechatronics, a first year course in the degree of Bachelor in Mechatronic Engineering.

  Industrial work

 

See Acumine’s website for information about industrial projects I’m involved in.

 

 

  Editorial Boards

I’m an Associate Editor for the IEEE Robotics and Automation Society.

 

 

 

 

 

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Please refer comments & questions to: Juan