During my PhD, I was a member of the Autonomous Robotics and Perception Laboratory at the University of Colorado, Boulder where I undertook research in perception, planning and control for agile autonomous vehicles under the direction of Dr. Gabe Sibley. On this site you’ll find information on my research and past projects.
The focus of my PhD research was perception, planning, and control for the Parkour Cars project. The project aimed to developing novel high speed perception, planning and control methods to autonomously enable high-speed and agile maneuvers including jumps, loop-the-loops and precise high-speed driving for small robots. These conditions required high fidelity perception and control that can handle the 3D setting of the problem as well as run tractably on hardware in real-time. More detail about the project can be found on the Parkour Cars Project Page.
 |
 |
Publications
Nima Keivan, Steven Lovegrove, and Gabe Sibley, “A Holistic Framework for Planning, Real-time Control and Model Learning for High-speed Ground Vehicle Navigation Over Rough 3D Terrain”, IROS 2012 Workshop on Robot Motion Planning: Online, Reactive, and in Real-time [.pdf]
Nima Keivan and Gabe Sibley, “Realtime Simulation-in-the-loop Control for Agile Ground Vehicles”, In Proceedings of Towards Autonomous Robotic Systems (TAROS) 2013 (Best Student Paper) [.pdf]
Nima Keivan and Gabe Sibley, “Asynchronous Adaptive Conditioning for Visual-Inertial SLAM”, In Proceedings of the International Symposium on Experimental Robotics (ISER) 2014 [.pdf]
Nima Keivan and Gabe Sibley, “Constant-Time Monocular Self-Calibration”, In Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO) 2014 [.pdf]
Nima Keivan and Gabe Sibley, “Online SLAM with any-time self-calibration and automatic change detection”, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2015 [.pdf]
Nima Keivan and Gabe Sibley, “Asynchronous adaptive conditioning for visual–inertial SLAM”, The International Journal of Robotics Research 34 (13), 1573-1589 (IJRR) 2015
Nima Keivan and Gabe Sibley, “Generative scene models with analytical path-tracing”, RSS 2015 Workshop on Robot Simulation [.pdf]