87 citations · 253 across the 22 of their papers we have counts for
4 papers · 1 filter
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…
Line as a Visual Sentence: Context-aware Line Descriptor for Visual Localization
Sungho Yoon, Ayoung Kim
Along with feature points for image matching, line features provide additional constraints to solve visual geometric problems in robotics and computer vision (CV). Although recent…
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…