Biography
Nived is currently a senior research associate at the ORI. He first joined the ORI as a post-doctoral research assistant in 2021. He is working with the Dynamic Robot Systems Group on navigation and mapping tasks for field robots. Recently, he has been working on developing perception systems for robots operating in forests in the DigiForest project (https://digiforest.eu/).
During his Ph.D. at the University of Bonn, Nived worked on techniques for localization and mapping for robots in agricultural fields. His research focus has been on developing robust registration techniques for SLAM systems using vision and LiDAR data acquired over long time intervals. Prior to that, Nived received his master's degree in Robotics from Ecole Centrale de Nantes (ECN), France, and the University of Genoa, Italy in 2015.
Nived is also passionate about teaching and has given lectures in M.Sc. courses on Mobile Sensing and Robotics(https://www.ipb.uni-bonn.de/msr1-2020/), and Techniques for Self-Driving Cars (https://www.youtube.com/watch?v=XmjjmnDcduU).
Research
Research Groups
Related Academics
Recent Publications
Building Forest Inventories With Autonomous Legged Robots—System, Lessons, and Challenges Ahead
Mattamala M, Chebrolu N, Frey J, Freißmuth L, Oh H et al. (2025), IEEE Transactions on Field Robotics, 2, 418-436
BibTeX
@article{buildingforesti-2025/6,
title={Building Forest Inventories With Autonomous Legged Robots—System, Lessons, and Challenges Ahead},
author={Mattamala M, Chebrolu N, Frey J, Freißmuth L, Oh H et al.},
journal={IEEE Transactions on Field Robotics},
volume={2},
pages={418-436},
publisher={Institute of Electrical and Electronics Engineers (IEEE)},
year = "2025"
}
Markerless aerial-terrestrial co-registration of forest point clouds using a deformable pose graph
Casseau B, Chebrolu N, Mattamala Aravena ME, Freissmuth L & Fallon M (2024), 39-46
BibTeX
@inproceedings{markerlessaeria-2024/12,
title={Markerless aerial-terrestrial co-registration of forest point clouds using a deformable pose graph},
author={Casseau B, Chebrolu N, Mattamala Aravena ME, Freissmuth L & Fallon M},
booktitle={International Conference on Intelligent Robots and Systems (IROS 2024)},
pages={39-46},
year = "2024"
}
Online tree reconstruction and forest inventory on a mobile robotic system
Mattamala Aravena ME, Chebrolu N & Fallon M (2024), 11765-11772
BibTeX
@inproceedings{onlinetreerecon-2024/12,
title={Online tree reconstruction and forest inventory on a mobile robotic system},
author={Mattamala Aravena ME, Chebrolu N & Fallon M},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
pages={11765-11772},
year = "2024"
}
Evaluation and deployment of LiDAR-based place recognition in dense forests
Oh H, Chebrolu N, Mattamala Aravena ME, Freißmuth L & Fallon M (2024), 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 12824-12831
BibTeX
@inproceedings{evaluationandde-2024/12,
title={Evaluation and deployment of LiDAR-based place recognition in dense forests},
author={Oh H, Chebrolu N, Mattamala Aravena ME, Freißmuth L & Fallon M},
booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024) },
pages={12824-12831},
year = "2024"
}
PhenoBench: A Large Dataset and Benchmarks for Semantic Image Interpretation in the Agricultural Domain.
Weyler J, Magistri F, Marks E, Chong YL, Sodano M et al. (2024), IEEE transactions on pattern analysis and machine intelligence, 46(12), 9583-9594
BibTeX
@article{phenobenchalarg-2024/12,
title={PhenoBench: A Large Dataset and Benchmarks for Semantic Image Interpretation in the Agricultural Domain.},
author={Weyler J, Magistri F, Marks E, Chong YL, Sodano M et al.},
journal={IEEE transactions on pattern analysis and machine intelligence},
volume={46},
pages={9583-9594},
year = "2024"
}
Tree instance segmentation and traits estimation for forestry environments exploiting LiDAR data collected by mobile robots
Malladi MVR, Guadagnino T, Lobefaro L, Mattamala M, Griess H et al. (2024), 2024 IEEE International Conference on Robotics and Automation (ICRA), 17933-17940
BibTeX
@inproceedings{treeinstanceseg-2024/8,
title={Tree instance segmentation and traits estimation for forestry environments exploiting LiDAR data collected by mobile robots},
author={Malladi MVR, Guadagnino T, Lobefaro L, Mattamala M, Griess H et al.},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
pages={17933-17940},
year = "2024"
}
Osprey: multisession autonomous aerial mapping with LiDAR-based SLAM and next best view planning
Border R, Chebrolu N, Tao Y, Gammell JD & Fallon M (2024), IEEE Transactions on Field Robotics, 1, 113-130
BibTeX
@article{ospreymultisess-2024/7,
title={Osprey: multisession autonomous aerial mapping with LiDAR-based SLAM and next best view planning},
author={Border R, Chebrolu N, Tao Y, Gammell JD & Fallon M},
journal={IEEE Transactions on Field Robotics},
volume={1},
pages={113-130},
publisher={IEEE},
year = "2024"
}
Extrinsic calibration of camera to LIDAR using a differentiable checkerboard model
Fu L, Chebrolu N & Fallon M (2023), Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), 00, 1825-1831
BibTeX
@inproceedings{extrinsiccalibr-2023/10,
title={Extrinsic calibration of camera to LIDAR using a differentiable checkerboard model},
author={Fu L, Chebrolu N & Fallon M},
booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)},
pages={1825-1831},
year = "2023"
}
Fast traversability estimation for wild visual navigation
Frey J, Mattamala Aravena ME, Chebrolu N, Cadena C, Fallon M et al. (2023), Robotics: Science and System XIX, 19
BibTeX
@inproceedings{fasttraversabil-2023/7,
title={Fast traversability estimation for wild visual navigation},
author={Frey J, Mattamala Aravena ME, Chebrolu N, Cadena C, Fallon M et al.},
booktitle={19th Robotics: Science and Systems (RSS 2023)},
year = "2023"
}
Fast traversability estimation for wild visual navigation
Frey J, Mattamala Aravena ME, Chebrolu N, Cadena C, Fallon M et al. (2023), Robotics: Science and Systems, XIX, p054
BibTeX
@article{fasttraversabil-2023/6,
title={Fast traversability estimation for wild visual navigation},
author={Frey J, Mattamala Aravena ME, Chebrolu N, Cadena C, Fallon M et al.},
journal={Robotics: Science and Systems},
volume={XIX},
pages={p054},
publisher={Robotics: Science and Systems},
year = "2023"
}
