2 citations · 2 across the 7 of their papers we have counts for
5 papers · 1 filter
Cross-Spectral Stereo Inertial Odometry
Seungsang Yun, Hyunsoo Jang, Tai Hyoung Rhee +3
Standard stereo VIO focuses exclusively on the benefit of metric scale via single-spectrum baselines, often overlooking the risks of spectral redundancy. This structural limitation…
LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction
Christina Kassab, Hyeonjae Gil, Matías Mattamala +2
Scene graphs are becoming a standard representation for robot navigation, providing hierarchical geometric and semantic scene understanding. However, most scene graph mapping metho…
Ephemerality meets LiDAR-based Lifelong Mapping
Hyeonjae Gil, Dongjae Lee, Giseop Kim +1
Lifelong mapping is crucial for the long-term deployment of robots in dynamic environments. In this paper, we present ELite, an ephemerality-aided LiDAR-based lifelong mapping fram…
HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer
Minwoo Jung, Sangwoo Jung, Hyeonjae Gil +1
LiDAR place recognition is a crucial module in localization that matches the current location with previously observed environments. Most existing approaches in LiDAR place recogni…
HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatiotemporal Variations
Minwoo Jung, Wooseong Yang, Dongjae Lee +3
Place recognition is crucial for robot localization and loop closure in simultaneous localization and mapping (SLAM). Light Detection and Ranging (LiDAR), known for its robust sens…