261 citations · 293 across the 24 of their papers we have counts for
25 papers
eCDT: Event Clustering for Simultaneous Feature Detection and Tracking-
Sumin Hu, Yeeun Kim, Hyungtae Lim +2
Contrary to other standard cameras, event cameras interpret the world in an entirely different manner; as a collection of asynchronous events. Despite event camera's unique data ou…
Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud
Seungjae Lee, Hyungtae Lim, Hyun Myung
In the field of 3D perception using 3D LiDAR sensors, ground segmentation is an essential task for various purposes, such as traversable area detection and object recognition. Unde…
TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans
Minho Oh, Euigon Jung, Hyungtae Lim +7
Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversabl…
PaGO-LOAM: Robust Ground-Optimized LiDAR Odometry
Dong-Uk Seo, Hyungtae Lim, Seungjae Lee +1
Numerous researchers have conducted studies to achieve fast and robust ground-optimized LiDAR odometry methods for terrestrial mobile platforms. In particular, ground-optimized LiD…
Struct-MDC: Mesh-Refined Unsupervised Depth Completion Leveraging Structural Regularities from Visual SLAM
Jinwoo Jeon, Hyunjun Lim, Dong-Uk Seo +1
Feature-based visual simultaneous localization and mapping (SLAM) methods only estimate the depth of extracted features, generating a sparse depth map. To solve this sparsity probl…
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,…
A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments
Hyungtae Lim, Suyong Yeon, Soohyun Ryu +6
Global registration using 3D point clouds is a crucial technology for mobile platforms to achieve localization or manage loop-closing situations. In recent years, numerous research…
Adversarial Attack for Asynchronous Event-based Data
Wooju Lee, Hyun Myung
Deep neural networks (DNNs) are vulnerable to adversarial examples that are carefully designed to cause the deep learning model to make mistakes. Adversarial examples of 2D images…
UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping
Hyunjun Lim, Jinwoo Jeon, Hyun Myung
In feature-based simultaneous localization and mapping (SLAM), line features complement the sparsity of point features, making it possible to map the surrounding environment struct…
Gesture Recognition with a Skeleton-Based Keyframe Selection Module
Yunsoo Kim, Hyun Myung
We propose a bidirectional consecutively connected two-pathway network (BCCN) for efficient gesture recognition. The BCCN consists of two pathways: (i) a keyframe pathway and (ii)…
WALK-VIO: Walking-motion-Adaptive Leg Kinematic Constraint Visual-Inertial Odometry for Quadruped Robots
Hyunjun Lim, Byeongho Yu, Yeeun Kim +4
In this paper, WALK-VIO, a novel visual-inertial odometry (VIO) with walking-motion-adaptive leg kinematic constraints that change with body motion for localization of quadruped ro…
MIR-VIO: Mutual Information Residual-based Visual Inertial Odometry with UWB Fusion for Robust Localization
Sungjae Shin, Eungchang Lee, Junho Choi +1
For many years, there has been an impressive progress on visual odometry applied to mobile robots and drones. However, the visual perception is still in the spotlight as a challeng…
A Morphing Quadrotor that Can Optimize Morphology for Transportation
Chanyoung Kim, Hyungyu Lee, Myeongwoo Jeong +1
Multirotors can be effectively applied to various tasks, such as transportation, investigation, exploration, and lifesaving, depending on the type of payload. However, due to the n…
Low-level Pose Control of Tilting Multirotor for Wall Perching Tasks Using Reinforcement Learning
Hyungyu Lee, Myeongwoo Jeong, Chanyoung Kim +4
Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting mul…
REAL: Rapid Exploration with Active Loop-Closing toward Large-Scale 3D Mapping using UAVs
Eungchang Mason Lee, Junho Choi, Hyungtae Lim +1
Exploring an unknown environment without colliding with obstacles is one of the essentials of autonomous vehicles to perform diverse missions such as structural inspections, rescue…
Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor
Hyungtae Lim, Minho Oh, Hyun Myung
Ground segmentation is crucial for terrestrial mobile platforms to perform navigation or neighboring object recognition. Unfortunately, the ground is not flat, as it features steep…
Equivariance-bridged SO(2)-Invariant Representation Learning using Graph Convolutional Network
Sungwon Hwang, Hyungtae Lim, Hyun Myung
Training a Convolutional Neural Network (CNN) to be robust against rotation has mostly been done with data augmentation. In this paper, another progressive vision of research direc…
ERASOR: Egocentric Ratio of Pseudo Occupancy-based Dynamic Object Removal for Static 3D Point Cloud Map Building
Hyungtae Lim, Sungwon Hwang, Hyun Myung
Scan data of urban environments often include representations of dynamic objects, such as vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point clo…
Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle
Jinwoo Jeon, Sungwook Jung, Eungchang Lee +2
This paper presents benchmark tests of various visual(-inertial) odometry algorithms on NVIDIA Jetson platforms. The compared algorithms include mono and stereo, covering Visual Od…
Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features
Hyunjun Lim, Yeeun Kim, Kwangik Jung +2
In this paper, a degeneracy avoidance method for a point and line based visual SLAM algorithm is proposed. Visual SLAM predominantly uses point features. However, point features la…
ALVIO: Adaptive Line and Point Feature-based Visual Inertial Odometry for Robust Localization in Indoor Environments
KwangYik Jung, YeEun Kim, HyunJun Lim +1
The amount of texture can be rich or deficient depending on the objects and the structures of the building. The conventional mono visual-initial navigation system (VINS)-based loca…
Peacock Exploration: A Lightweight Exploration for UAV using Control-Efficient Trajectory
EungChang Mason Lee, Duckyu Choi, Hyun Myung
Unmanned Aerial Vehicles have received much attention in recent years due to its wide range of applications, such as exploration of an unknown environment to acquire a 3D map witho…
BRM Localization: UAV Localization in GNSS-Denied Environments Based on Matching of Numerical Map and UAV Images
Junho Choi, Hyun Myung
Localization is one of the most important technologies needed to use Unmanned Aerial Vehicles (UAVs) in actual fields. Currently, most UAVs use GNSS to estimate their position. Rec…
Development and Analysis of Digging and Soil Removing Mechanisms for Mole-Bot: Bio-Inspired Mole-Like Drilling Robot
Junseok Lee, Christian Tirtawardhana, Hyun Myung
Interests in exploration of new energy resources are increasing due to the exhaustion of existing resources. To explore new energy sources, various studies have been conducted to i…