261 citations · 356 across the 34 of their papers we have counts for
11 papers · 1 filter
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…
DreamWaQ++: Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning
I Made Aswin Nahrendra, Byeongho Yu, Minho Oh +5
Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base co…
KISS-Matcher: Fast and Robust Point Cloud Registration Revisited
Hyungtae Lim, Daebeom Kim, Gunhee Shin +5
While global point cloud registration systems have advanced significantly in all aspects, many studies have focused on specific components, such as feature extraction, graph-theore…
HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors
Hyungtae Lim, Seoyeon Jang, Benedikt Mersch +3
Moving object segmentation (MOS) using a 3D light detection and ranging (LiDAR) sensor is crucial for scene understanding and identification of moving objects. Despite the availabi…
TOSS: Real-time Tracking and Moving Object Segmentation for Static Scene Mapping
Seoyeon Jang, Minho Oh, Byeongho Yu +4
Safe navigation with simultaneous localization and mapping (SLAM) for autonomous robots is crucial in challenging environments. To achieve this goal, detecting moving objects in th…
CLOi-Mapper: Consistent, Lightweight, Robust, and Incremental Mapper With Embedded Systems for Commercial Robot Services
DongKi Noh, Hyungtae Lim, Gyuho Eoh +5
In commercial autonomous service robots with several form factors, simultaneous localization and mapping (SLAM) is an essential technology for providing proper services such as cle…
B-TMS: Bayesian Traversable Terrain Modeling and Segmentation Across 3D LiDAR Scans and Maps for Enhanced Off-Road Navigation
Minho Oh, Gunhee Shin, Seoyeon Jang +7
Recognizing traversable terrain from 3D point cloud data is critical, as it directly impacts the performance of autonomous navigation in off-road environments. However, existing se…
Contextrast: Contextual Contrastive Learning for Semantic Segmentation
Changki Sung, Wanhee Kim, Jungho An +3
Despite great improvements in semantic segmentation, challenges persist because of the lack of local/global contexts and the relationship between them. In this paper, we propose Co…
Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots
Hyungtae Lim, Minho Oh, Seungjae Lee +2
With the increasing demand for mobile robots and autonomous vehicles, several approaches for long-term robot navigation have been proposed. Among these techniques, ground segmentat…