Miguel Castillón

Miguel Castillón

PhD candidate

Girona Underwater Vision and Robotics Lab


I’m a PhD student at the Underwater Robotics Lab of University of Girona. My main research interests include exploiting sensor perception for autonomous navigation and manipulation in challenging scenarios. I’m currently working on graph SLAM and investigating novel non-rigid data association methods to recover true object shape out of distorted 3D scans.

  • Sensor Perception
  • SLAM
  • Optimization
  • PhD in Robotics, 2022

    University of Girona (Spain)

  • MSc in Robotics, 2018

    KU Leuven (Belgium)

  • BSc in Industrial Engineering, 2015

    University of Zaragoza (Spain)

Research experience

PhD Researcher
Jan 2019 – Present Girona (Spain)
Enabling underwater robots to use range data from laser-based sensors for mapping and manipulation tasks. To this end we built an underwater laser scanner, which allowed me to face challenges ranging from sensor calibration to integration in autonomous platforms.
Visiting Researcher
Sep 2021 – Apr 2022 Zurich (Switzerland)
Presented a new non-rigid point cloud registration algorithm that corrects motion distortion in dynamic scans, improving accuracy of localization and mapping tasks.
MSc Thesis
Oct 2017 – Jul 2018 Leuven (Belgium)
Developed a vision-based algorithm capable of reconstructing full-field vibrations of mechanical structures based on observations of natural-frequency deformations.
Research intern
Jun 2017 – Aug 2017 Leuven (Belgium)
Trained a ML classifier to assign ripeness category to berries detected by the autonomous strawberry picking robot.
BSc thesis
Jan 2015 – Jul 2015 Vienna (Austria)
Compared different feature-based strategies to match 2D floor plan LiDAR scans for autonomous navigation.