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Tiago Barros, PhD, is a researcher at the Institute of Systems and Robotics. His research focuses on 3D LiDAR perception, machine learning, and robotic localization, with applications in both agricultural and urban environments. He has developed advanced methods for place recognition, SLAM, and sensor fusion, as well as multimodal perception systems combining LiDAR, multispectral, and thermal imagery. He has been a visiting researcher at GeorgiaTech Lorraine (France) and Freie Universität Berlin (Germany), contributing to advancements in LiDAR-based odometry and place recognition. His work has been published in leading venues such as ITSC, IROS, RA-L, and Computers and Electronics in Agriculture, and he actively contributes to the open-source research community.
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Identification

Personal identification

Full name
Tiago Barros da Silva

Citation names

  • Tiago Barros
  • T. Barros

Author identifiers

Ciência ID
D81B-338B-FA43
ORCID iD
0000-0001-7574-3819

Email addresses

  • tiagobarros@isr.uc.pt (Professional)

Websites

Knowledge fields

  • Engineering and Technology - Electrotechnical Engineering, Electronics and Informatics - Robotics and Automatic Control

Languages

Language Speaking Reading Writing Listening Peer-review
Portuguese (Mother tongue)
English Upper intermediate (B2) Upper intermediate (B2) Advanced (C1) Advanced (C1)
French Upper intermediate (B2) Upper intermediate (B2) Upper intermediate (B2) Upper intermediate (B2) Upper intermediate (B2)
Education
Degree Classification
2018/09 - 2025/09
Concluded
 Doutoramento em Engenharia Electrotécnica e de Computadores (Doutoramento)
Universidade de Coimbra, Portugal
2009/09/15 - 2015/09/16
Concluded
 Mestrado Integrado em Engenharia Electrotécnica e de Computadores (Mestrado integrado)
Universidade de Coimbra Faculdade de Ciencias e Tecnologia, Portugal
"Controlo de movimentos de uma plataforma móvel com quatro rodas motrizes e direccionais" (THESIS/DISSERTATION)
 13
Affiliation

Science

Category
Host institution 		Employer
2025/05 - 2025/07 Researcher (Research) Universidade de Coimbra, Portugal
Universidade de Coimbra, Portugal
2022/04/01 - 2025/03/31 Researcher (Research) Fundação para a Ciência e a Tecnologia, Portugal
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal
2017/02 - 2022/03 Researcher (Research) Universidade de Coimbra, Portugal
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal

Teaching in Higher Education

Category
Host institution 		Employer
2025/09 - 2026/02 Invited Assistant (University Teacher) Universidade de Coimbra, Portugal
Universidade de Coimbra, Portugal
2021/09 - 2023/08 Invited Assistant (University Teacher) Universidade de Coimbra, Portugal
Universidade de Coimbra, Portugal

Others

Category
Host institution 		Employer
2025/04 - 2025/05 Researcher ¿MED ¿ROBOTS ¿ROBOTIC ¿TECHNOLOGY ¿AND ¿INNOVATION ¿Lda, Portugal
¿MED ¿ROBOTS ¿ROBOTIC ¿TECHNOLOGY ¿AND ¿INNOVATION ¿Lda, Portugal
2015/10 - 2017/01 R&D Engineer Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal
Projects

Grant

Designation Funders
2022/04/01 - 2025/03/31 Multi-modal perception for long-term localization in human-centered robotics
2021.06492.BD
10.54499/2021.06492.BD
Universidade de Coimbra Faculdade de Ciencias e Tecnologia, Portugal
 Fundação para a Ciência e a Tecnologia
Concluded

Contract

Designation Funders
2025/03 - Current PharmaRobot- Robô logístico de distribuição de fármacos urgentes
COMPETE2030-FEDER-01478600
Co-Principal Investigator (Co-PI)
Universidade de Coimbra, Portugal
 Agência Nacional de Inovação SA
Ongoing
2022/01/03 - 2025/01/02 Sistema Robótico Inteligente para Agricultura Digital (GreenBotics)
PTDC/EEI-ROB/2459/2021
Researcher
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal
 Fundação para a Ciência e a Tecnologia
Ongoing
2021/02/01 - 2022/01/31 AI+Green - Intelligent Automation in Precise Agriculture
MIT-EXPL/TDI/0029/2019
Researcher
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal
 Fundação para a Ciência e a Tecnologia
Concluded
2019/03 - 2021/05 MATIS - Materiais e Tecnologias Industriais Sustentáveis
CENTRO-01-0145-FEDER-000014
Researcher
Universidade de Coimbra, Portugal
Concluded
2017/02 - 2019/01 AGVPOSYS: Automated-Guided-Vehicle with innovative indoor positioning system for the factory of the future
CENTRO-01-0247-FEDER-003503
Technical development
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal
Concluded
2016/02 - 2017/01 INSTITUTE OF SYSTEMS AND ROBOTICS
UID/EEA/00048/2013
Technical development
Fundação para a Ciência e a Tecnologia
Concluded
2015/10 - 2015/12 TIRAMISU - Toolbox Implementation for Removal of Anti-personnel Mines, Submunitions and UXO
SEC-2011.1.3-3 / 284747
Integration into Research Grant Fellow
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal
Concluded
Outputs

Publications

Conference abstract
  1. Nunes, W. M. C.; Tiago Barros; Gil Rito Gonçalves; Premebida, Cristiano. "A Probabilistic Framework Applied to Multispectral Image Segmentation". Paper presented in 2024 IEEE 3rd International Conference on Intelligent Reality (ICIR 2024), Coimbra, 2024.
    Published
Conference paper
  1. Nunes, W. M. C.; Tiago Barros; Premebida, Cristiano; Gil Rito Gonçalves; Nunes, Urbano J.. "Multispectral Image Segmentation in Agriculture: Evaluating Deep Learning Models with Train-Test Split and Cross-Validation Strategies". Paper presented in ROBOT, Madrid, 2024.
    Published
  2. Barros, T.; Premebida, C.; Aravecchia, S.; Pradalier, C.; Nunes, U. J.. "SPVSoAP3D: A Second-order Average Pooling Approach to enhance 3D Place Recognition in Horticultural Environments". 2024.
    10.1109/iros58592.2024.10802603
  3. Nunes, W. M. C.; Tiago Barros; Gil Rito Gonçalves; Premebida, Cristiano; Nunes, Urbano J.. "Optimizing DL-Based Segmentation with Conditional Random Field: Application in Vineyards using Multispectral Aerial Imagery". Paper presented in 2024 IEEE 20th International Conference on Automation Science and Engineering, Bari, 2024.
    Under revision
  4. Jorge, J.; Barros, T.; Premebida, C.; Aleksandrov, M.; Goehring, D.; Nunes, U. J.. "Impact of 3D LiDAR Resolution in Graph-Based SLAM Approaches: A Comparative Study". 2024.
    10.1109/robot61475.2024.10796891
  5. Barros, Tiago; Garrote, Luís; Aleksandrov, Martin; Premebida, Cristiano; Nunes, Urbano J.. "TReR: A Lightweight Transformer Re-Ranking Approach for 3D LiDAR Place Recognition". 2023.
    10.1109/itsc57777.2023.10421819
  6. Cunha, Nuno; Barros, Tiago; Reis, Mário; Marta, Tiago; Premebida, Cristiano; Nunes, Urbano J.. "Multispectral Image Segmentation in Agriculture: A Comprehensive Study on Fusion Approaches". Paper presented in Robot 2023: Sixth Iberian Robotics Conference, 2023.
    10.1007/978-3-031-59167-9_26
  7. Barros, Tiago; Garrote, Luís; Pereira, Ricardo; Premebida, Cristiano; Nunes, Urbano. "AttDLNet: Attention-Based Deep Network for 3D LiDAR Place Recognition". Paper presented in ROBOT2022: Fifth Iberian Robotics Conference, 2022.
    10.1007/978-3-031-21065-5_26
  8. Garrote, Luis; Temporao, Diogo; Temporao, Samuel; Pereira, Ricardo; Barros, Tiago; Nunes, Urbano J.. "Improving Local Motion Planning with a Reinforcement Learning Approach". 2020.
    Published • 10.1109/icarsc49921.2020.9096095
  9. Jack N.C. Hayton; Tiago Barros; Cristiano Premebida; Matthew J. Coombes; Urbano J. Nunes. "CNN-based Human Detection Using a 3D LiDAR onboard a UAV". 2020.
    10.1109/ICARSC49921.2020.9096075
  10. Ricardo Pereira; Nuno Goncalves; Luís Garrote; Tiago Barros; Ana Lopes; Urbano J. Nunes. "Deep-Learning based Global and Semantic Feature Fusion for Indoor Scene Classification". 2020.
    10.1109/ICARSC49921.2020.9096068
  11. Ricardo Pereira; Tiago Barros; Luís Garrote; Ana Lopes; Urbano J. Nunes. "An Experimental Study of the Accuracy vs Inference Speed of RGB-D Object Recognition in Mobile Robotics". 2020.
    10.1109/RO-MAN47096.2020.9223562
  12. Nuno Gonçalves; Ricardo Pereira; Luís Garrote; Tiago Barros; Ana Lopes; Urbano Nunes. "A Global and Semantic Feature Fusion Network for Indoor Scene Classification". Paper presented in 20th IEEE International Conference on Autonomous Robot Systems and Competitions, 2020.
    Published • 10.1109/eei48997.2019.00079
  13. Garrote, Luis; Torres, Miguel; Barros, Tiago; Perdiz, Joao; Premebida, Cristiano; Nunes, Urbano J.. "Mobile Robot Localization with Reinforcement Learning Map Update Decision aided by an Absolute Indoor Positioning System". 2019.
  14. Garrote, Luis; Barros, Tiago; Pereira, Ricardo; Nunes, Urbano J.. "Absolute Indoor Positioning-aided Laser-based Particle Filter Localization with a Refinement Stage". 2019.
  15. Tiago Barros; Luís Garrote; Ricardo Pereira; Cristiano Premebida; Urbano J. Nunes. "Improving Localization by Learning Pole-Like Landmarks Using a Semi-supervised Approach". Paper presented in Robot 2019: Fourth Iberian Robotics Conference, 2019.
    Published
  16. Ricardo Pereira; Luís Garrote; Tiago Barros; Carlos Carona; Luís C. Bento; Urbano J. Nunes. "Expressive Robotic Head for Human-Robot Interaction Studies". Paper presented in XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019, 2019.
    Published
Journal article
  1. Telmo Adão; João Cerqueira; Miguel Adão; Nuno Silva; David Pascoal; Luís G. Magalhães; Tiago Barros; et al. "PROMORE: A Procedural Modeler of Virtual Rural Environments With Artificial Dataset Generation Capabilities for Remote Sensing Contexts". IEEE Access (2025): https://doi.org/10.1109/ACCESS.2025.3548513.
    10.1109/ACCESS.2025.3548513
  2. T. Barros; L. Garrote; P. Conde; M. J. Coombes; C. Liu; C. Premebida; U. J. Nunes. "PointNetPGAP-SLC: A 3D LiDAR-Based Place Recognition Approach With Segment-Level Consistency Training for Mobile Robots in Horticulture". IEEE Robotics and Automation Letters (2024): https://doi.org/10.1109/LRA.2024.3475044.
    10.1109/LRA.2024.3475044
  3. Pereira, Ricardo; Barros, Tiago; Garrote, Luis; Lopes, Ana; Nunes, Urbano J.. "A deep learning-based global and segmentation-based semantic feature fusion approach for indoor scene classification". Pattern Recognition Letters 179 (2024): 24-30.
    Open access • 10.1016/j.patrec.2024.01.022
  4. Barros, T.; Conde, P.; Gonçalves, G.; Premebida, Cristiano; Monteiro, M.; Ferreira, C. S. S.; Nunes, U. J.. "Multispectral vineyard segmentation: A deep learning comparison study". Computers and Electronics in Agriculture 195 (2022): 106782.
    Open access • 10.1016/j.compag.2022.106782
Preprint
  1. Pereira, Ricardo; Garrote, Luís; Barros, Tiago; Lopes, Ana; Nunes, Urbano J.. "Exploiting Object-based and Segmentation-based Semantic Features for Deep Learning-based Indoor Scene Classification". 2024.
    10.48550/arxiv.2404.07739
  2. Conde, Pedro; Tiago Barros; Rui L. Lopes; Cristiano Premebida; Nunes, Urbano J.. Corresponding author: Conde, Pedro. "Augmented Dynamic Inference: Approaching Test-Time Augmentation in the Context of Uncertainty Calibration for Deep Neural Networks". 2023. https://doi.org/10.48550/arXiv.2304.05104.
  3. Conde, Pedro; Tiago Barros; Rui L. Lopes; Cristiano Premebida; Nunes, Urbano J.. Corresponding author: Conde, Pedro. "Approaching Test Time Augmentation in the Context of Uncertainty Calibration for Deep Neural Networks". 2023. https://doi.org/10.48550/arXiv.2304.05104.
  4. Barros, T.; Garrote, L.; Conde, P.; Coombes, M. J.; Liu, C.; Premebida, C.; Nunes, U. J.. "ORCHNet: A Robust Global Feature Aggregation approach for 3D LiDAR-based Place recognition in Orchards". 2023.
    10.48550/arxiv.2303.00477
  5. Tiago Barros; Ricardo Pereira; Luis Garrote; Cristiano Premebida; Urbano J. Nunes. "Place recognition survey: An update on deep learning approaches". 2021.
Activities

Course / Discipline taught

Academic session Degree Subject (Type) Institution / Organization
2025/09 - 2026/02 Laboratório de Sistemas Digitais Licenciatura em Engenharia Eletrotécnica e de Computadores Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal
2020/08/01 - 2025/08/30 Lecture of Sensors for Autonomous Rotobs and Vehicles Summer school on Robotics and Machine Learning (Outros) Universidade de Coimbra, Portugal
2021/09 - 2023/02 Programação de Computadores Licenciatura em Engenharia Eletrotécnica e de Computadores Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal
2021/09 - 2023 Sistemas de Microprocessadores LEEC, MIEEC Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal