261 citations · 332 across the 23 of their papers we have counts for
18 papers · 1 filter
Multi-Mapcher: Loop Closure Detection-Free Heterogeneous LiDAR Multi-Session SLAM Leveraging Outlier-Robust Registration for Autonomous Vehicles
Hyungtae Lim, Daebeom Kim, Hyun Myung
As various 3D light detection and ranging (LiDAR) sensors have been introduced to the market, research on multi-session simultaneous localization and mapping (MSS) using heterogene…
LVI-Q: Robust LiDAR-Visual-Inertial-Kinematic Odometry for Quadruped Robots Using Tightly-Coupled and Efficient Alternating Optimization
Kevin Christiansen Marsim, Minho Oh, Byeongho Yu +4
Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and…
SaWa-ML: Structure-Aware Pose Correction and Weight Adaptation-Based Robust Multi-Robot Localization
Junho Choi, Kihwan Ryoo, Jeewon Kim +6
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use cam…
TRIP: Terrain Traversability Mapping With Risk-Aware Prediction for Enhanced Online Quadrupedal Robot Navigation
Minho Oh, Byeongho Yu, I Made Aswin Nahrendra +8
Accurate traversability estimation using an online dense terrain map is crucial for safe navigation in challenging environments like construction and disaster areas. However, trave…
GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting
Daehan Lee, Hyungtae Lim, Soohee Han
Light detection and ranging (LiDAR)-based odometry has been widely utilized for pose estimation due to its use of high-accuracy range measurements and immunity to ambient light con…
DynaVINS++: Robust Visual-Inertial State Estimator in Dynamic Environments by Adaptive Truncated Least Squares and Stable State Recovery
Seungwon Song, Hyungtae Lim, Alex Junho Lee +1
Despite extensive research in robust visual-inertial navigation systems~(VINS) in dynamic environments, many approaches remain vulnerable to objects that suddenly start moving, whi…