Publications

[Full list on Google Scholar]

2025

M. V. R. Malladi, N. Chebrolu, I. Scacchetti, L. Lobefaro, T. Guadagnino, B. Casseau, H. Oh, L. Freissmuth, M. Karppinen, J. Schweier, S. Leutenegger, J. Behley, C. Stachniss, and M. Fallon, “DigiForests: A Longitudinal LiDAR Dataset for Forestry Robotics,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2025.
[BibTeX] [PDF] [Webpage]

M. Mattamala, J. Frey, P. Libera, N. Chebrolu, G. Martius, C. Cadena, M. Hutter, and M. Fallon, “Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision,” in Autonomous Robots, 2025.
[BibTeX] [PDF]

2024

J. Weyler, F. Magistri, E. Marks, Y. L. Chong, M. Sodano, G. Roggiolani, N. Chebrolu, C. Stachniss, and J. Behley, “PhenoBench – A Large Dataset and Benchmarks for Semantic Image Interpretation in the Agricultural Domain,” in IEEE Trans. on Pattern Analalysis and Machine Intelligence (TPAMI), 2024.
[BibTeX] [PDF] [Webpage]

Y. Tao, Y. Bhalgat, L. F. T. Fu, M. Mattamala, N. Chebrolu, and M. Fallon, “SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2024.
[BibTeX] [PDF] [Video]

L. Freißmuth, M. Mattamala, N. Chebrolu, S. Schaefer, S. Leuteneggßer, and M. Fallon, “Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2024.
[BibTeX] [PDF] [Video]

H. Oh, N. Chebrolu, M. Mattamala, L. Freißmuth, and M. Fallon, “Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2024.
[BibTeX] [PDF] [Video]

R. Border, N. Chebrolu, Y. Tao, a. J. Gamell, and M. Fallon, “Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning,” in IEEE Trans. on Field Robotics (TFR), 2024.
[BibTeX] [PDF] [Video]

2023

Y. Goel, N. Vaskevicius, L. Palmieri, N. Chebrolu, K. O. Arras, and C. Stachniss, “Semantically Informed MPC for Context-Aware Robot Exploration,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2023.
[BibTeX] [PDF]

J. Frey, M. Mattamala, N. Chebrolu, C. Cadena, M. Fallon, and M. Hutter, “Fast Traversability Estimation for Wild Visual Navigation,” in Proc. of Robotics: Science and Systems (RSS), 2023.
[BibTeX] [PDF] [Webpage] [Video]

F. Fu, N. Chebrolu, and M. Fallon, “Extrinsic Calibration of Camera to LIDAR Using a Differentiable Checkerboard Model,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2023.
[BibTeX] [PDF] [Video]

2022

M. Mattamala, N. Chebrolu, and M. Fallon, “An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions,” in IEEE Robotics and Automation Letters, 2022.
[BibTeX] [PDF] [Video]

Y. Tao, M. Popović, Y. Wang, N.Chebrolu, and M. Fallon, “3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2022.
[BibTeX] [PDF] [Video]

N. Chebrolu, S. T. Digumarti, and M. Fallon, “A Portable LiDAR System for Online Forestry Mapping,” in In Proc. of the ForestSAT, 2022.
[BibTeX]

A. Proudman, M. Ramezani, S. T. Digumarti, N. Chebrolu, and M. Fallon, “Towards Real-Time Forest Inventory using Handheld LiDAR,” in Journal on Robotics and Autonomous Systems (RAS), 2022.
[BibTeX] [PDF] [Video]

Y. Goel, N. Vaskevicius, L. Palmieri, N. Chebrolu, and C. Stachniss, “Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation,” in In the proc. of IROS Workshop on Perception and Navigation for Autonomous Robotics in Unstructured and Dynamic Environments, 2022.
[BibTeX] [PDF]

R. Border, N. Chebrolu, M. Fallon, and J. D. Gammell, “Autonomous Aerial Mapping for Construction,” in ICRA Workshop on Construction Robotics, 2022.
[BibTeX] [PDF] [Video]

2021

A. Pretto, S. Aravecchia, W. Burgard, N. Chebrolu, C. Dornhege, T. Falck, F. Fleckenstein, A. Fontenla, M. Imperoli, R. Khanna, F. Liebisch, P. Lottes, A. Milioto, D. Nardi, S. Nardi, J. Pfeifer, M. Popović, C. Potena, C. Pradalier, E. Rothacker-Feder, I. Sa, A. Schaefer, R. Siegwart, C. Stachniss, A. Walter, W. Winterhalter, X. Wu, and J. Nieto, “Building an Aerial-Ground Robotics System for Precision Farming,” in IEEE Robotics and Automation Magazine (RAM), 2021.
[BibTeX] [PDF]

N. Chebrolu, T. Laebe, O. Vysotska, J. Behley, and C. Stachniss, “Adaptive Robust Kernels for Non-Linear Least Squares Problems,” in IEEE Robotics and Automation Letters (RA-L), 2021.
[BibTeX] [PDF]

N. Chebrolu, F. Magistri, T. Läbe, and C. Stachniss, “Registration of Spatio-Temporal Point Clouds of Plants for Phenotyping,” in PLOS ONE, 2021.
[BibTeX] [PDF]

I. Vizzo, X. Chen, N. Chebrolu, J. Behley, and C. Stachniss, “Poisson Surface Reconstruction for LiDAR Odometry and Mapping,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2021.
[BibTeX] [PDF] [Code]

F. Magistri, N. Chebrolu, J. Behley, and C. Stachniss, “Towards In-Field Phenotyping Exploiting Differentiable Rendering with Self-Consistency Loss,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2021.
[BibTeX] [PDF] [Video]

D. Schunck, F. Magistri, R. A. Rosu, A. Cornelißen, N. Chebrolu, S. Paulus, J. Léon, S. Behnke, C. Stachniss, H. Kuhlmann, and L. Klingbeil, “Pheno4D: A Spatio-Temporal Dataset of Maize and Tomato Plant Point Clouds for Phenotyping and Advanced Plant Analysis,” in PLOS ONE, 2021.
[BibTeX] [PDF] [Webpage]

M. Mattamala, N. Chebrolu, and M. Fallon, “Ensuring Safe Visual Teach and Repeat Legged Navigation using Local World Representations,” in In the proc. of ICRA 2021 Workshop on Real-World Deployment of Legged Robots, 2021.
[BibTeX] [Video]

2020

N. Chebrolu, T. Läbe, and C. Stachniss, “Spatio-Temporal Non-Rigid Registration of 3D Point Clouds of Plants,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2020.
[BibTeX] [PDF]

A. Ahmadi, L. Nardi, N. Chebrolu, and C. Stachniss, “Visual Servoing-based Navigation for Monitoring Row-Crop Fields,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2020.
[BibTeX] [Code] [Video]

P. Lottes, J. Behley, N. Chebrolu, A. Milioto, and C. Stachniss, “Robust Joint Stem Detection and Crop-Weed Classification using Image Sequences for Plant-Specific Treatment in Precision Farming,” in Journal of Field Robotics (JFR), 2020.
[BibTeX] [PDF]

F. Magistri, N. Chebrolu, and C. Stachniss, “Segmentation-Based 4D Registration of Plants Point Clouds for Phenotyping,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2020.
[BibTeX] [PDF]

2019

N. Chebrolu, P. Lottes, T. Läbe, and C. Stachniss, “Robot Localization Based on Aerial Images for Precision Agriculture Tasks in Crop Fields,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2019.
[BibTeX] [PDF]

P. Lottes, N. Chebrolu, F. Liebisch, and C. Stachniss, “UAV-based Field Monitoring for Precision Farming,” in In Proc. of the Workshop für Computer-Bildanalyse und unbemannte autonom fliegende Systeme in der Landwirtschaft, 2019.
[BibTeX] [PDF]

2018

N. Chebrolu, T. Läbe, and C. Stachniss, “Robust Long-Term Registration of UAV Images of Crop Fields for Precision Agriculture,” in IEEE Robotics and Automation Letters, 2018.
[BibTeX] [PDF]

P. Lottes, J. Behley, N. Chebrolu, A. Milioto, and C. Stachniss, “Joint Stem Detection and Crop-Weed Classification for Plant-specific Treatment in Precision Farming,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2018.
[BibTeX] [PDF]

2017

N. Chebrolu, P. Lottes, A. Schaefer, W. Winterhalter, W. Burgard, and C. Stachniss, “Agricultural Robot Dataset for Plant Classification, Localization and Mapping on Sugar Beet Fields,” in Intl. Journal of Robotics Research (IJRR), 2017.
[BibTeX] [PDF]

2015

N. Chebrolu, D. Marquez-Gamez, and P. Martinet, “Collaborative Visual SLAM Framework for a Multi-Robot System,” in In Proc. of the Workshop on Planning, Perception and Navigation for Intelligent Vehicles, 2015.
[BibTeX] [PDF]