87 citations · 253 across the 22 of their papers we have counts for
16 papers · 1 filter
Thermal Chameleon: Task-Adaptive Tone-mapping for Radiometric Thermal-Infrared images
Dong-Guw Lee, Jeongyun Kim, Younggun Cho +1
Thermal Infrared (TIR) imaging provides robust perception for navigating in challenging outdoor environments but faces issues with poor texture and low image contrast due to its 14…
RaPlace: Place Recognition for Imaging Radar using Radon Transform and Mutable Threshold
Hyesu Jang, Minwoo Jung, Ayoung Kim
Due to the robustness in sensing, radar has been highlighted, overcoming harsh weather conditions such as fog and heavy snow. In this paper, we present a novel radar-only place rec…
Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
Minwoo Jung, Sangwoo Jung, Ayoung Kim
In recent years, multiple Light Detection and Ranging (LiDAR) systems have grown in popularity due to their enhanced accuracy and stability from the increased field of view (FOV).…
A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics
Kyle Harlow, Hyesu Jang, Timothy D. Barfoot +2
We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of th…
Ambiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulation
Myung-Hwan Jeon, Jeongyun Kim, Jee-Hwan Ryu +1
6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the objec…
ViViD++: Vision for Visibility Dataset
Alex Junho Lee, Younggun Cho, Young-sik Shin +2
In this paper, we present a dataset capturing diverse visual data formats that target varying luminance conditions. While RGB cameras provide nourishing and intuitive information,…
SC-LiDAR-SLAM: a Front-end Agnostic Versatile LiDAR SLAM System
Giseop Kim, Seungsang Yun, Jeongyun Kim +1
Accurate 3D point cloud map generation is a core task for various robot missions or even for data-driven urban analysis. To do so, light detection and ranging (LiDAR) sensor-based…
Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments
Giseop Kim, Sunwook Choi, Ayoung Kim
Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based…
LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping
Giseop Kim, Ayoung Kim
Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and rea…
Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference
Lu Gan, Youngji Kim, Jessy W. Grizzle +4
This article presents a novel and flexible multitask multilayer Bayesian mapping framework with readily extendable attribute layers. The proposed framework goes beyond modern metri…
Road is Enough! Extrinsic Calibration of Non-overlapping Stereo Camera and LiDAR using Road Information
Jinyong Jeong, Lucas Y. Cho, Ayoung Kim
This paper presents a framework for the targetless extrinsic calibration of stereo cameras and Light Detection and Ranging (LiDAR) sensors with a non-overlapping Field of View (FOV…
Sparse Depth Enhanced Direct Thermal-infrared SLAM Beyond the Visible Spectrum
Young-Sik Shin, Ayoung Kim
In this paper, we propose a thermal-infrared simultaneous localization and mapping (SLAM) system enhanced by sparse depth measurements from Light Detection and Ranging (LiDAR). The…
DeepLO: Geometry-Aware Deep LiDAR Odometry
Younggun Cho, Giseop Kim, Ayoung Kim
Recently, learning-based ego-motion estimation approaches have drawn strong interest from studies mostly focusing on visual perception. These groundbreaking works focus on unsuperv…
Sequential Learning of Visual Tracking and Mapping Using Unsupervised Deep Neural Networks
Youngji Kim, Ayoung Kim
We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method complet…
Deep Learning from Shallow Dives: Sonar Image Generation and Training for Underwater Object Detection
Sejin Lee, Byungjae Park, Ayoung Kim
Among underwater perceptual sensors, imaging sonar has been highlighted for its perceptual robustness underwater. The major challenge of imaging sonar, however, arises from the dif…
Complex Urban LiDAR Data Set
Jinyong Jeong, Younggun Cho, Young-Sik Shin +2
This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a…