1 citations · 1 across the 9 of their papers we have counts for
10 papers
DXPR: Depth-Based Vision-LiDAR Cross-Modal Place Recognition Using Vision Foundation Models
Yungsoo Han, Youngseok Jang, Seungwon Roh +2
We present DXPR, a depth-based cross-modal place recognition (CMPR) framework that uses vision foundation models (VFMs) to match monocular camera queries against a LiDAR map withou…
ObsGraph: Hierarchical Observation Representation for Embodied Reasoning and Exploration
Taekbeom Lee, Youngseok Jang, Jeonghwa Heo +2
Embodied reasoning and exploration are increasingly considered crucial abilities for robots operating in complex and unfamiliar environments. To accomplish tasks in such settings,…
EgoAVFlow: Robot Policy Learning with Active Vision from Human Egocentric Videos via 3D Flow
Daesol Cho, Youngseok Jang, Danfei Xu +1
Egocentric human videos provide a scalable source of manipulation demonstrations; however, deploying them on robots requires active viewpoint control to maintain task-critical visi…
ReaDy-Go: Real-to-Sim Dynamic 3D Gaussian Splatting Simulation for Environment-Specific Visual Navigation with Moving Obstacles
Seungyeon Yoo, Youngseok Jang, Dabin Kim +3
Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the sim-to-real gap and the difficulty of training policies tailored to targ…
HERE: Hierarchical Active Exploration of Radiance Field with Epistemic Uncertainty Minimization
Taekbeom Lee, Dabin Kim, Youngseok Jang +1
We present HERE, an active 3D scene reconstruction framework based on neural radiance fields, enabling high-fidelity implicit mapping. Our approach centers around an active learnin…
Category-level Neural Field for Reconstruction of Partially Observed Objects in Indoor Environment
Taekbeom Lee, Youngseok Jang, H. Jin Kim
Neural implicit representation has attracted attention in 3D reconstruction through various success cases. For further applications such as scene understanding or editing, several…
Design and Operation of Autonomous Wheelchair Towing Robot
Hyunwoo Kang, Jaeho Shin, Jaewook Shin +2
In this study, a new concept of a wheelchair-towing robot for the facile electrification of manual wheelchairs is introduced. The development of this concept includes the design of…
Object-based SLAM utilizing unambiguous pose parameters considering general symmetry types
Taekbeom Lee, Youngseok Jang, H. Jin Kim
Existence of symmetric objects, whose observation at different viewpoints can be identical, can deteriorate the performance of simultaneous localization and mapping(SLAM). This wor…
Topology-Guided Path Planning for Reliable Visual Navigation of MAVs
Dabin Kim, Gyeong Chan Kim, Youngseok Jang +1
Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarant…
Pose Correction Algorithm for Relative Frames between Keyframes in SLAM
Youngseok Jang, Hojoon Shin, H. Jin Kim
With the dominance of keyframe-based SLAM in the field of robotics, the relative frame poses between keyframes have typically been sacrificed for a faster algorithm to achieve onli…