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cs.CV2025
Registration beyond Points: General Affine Subspace Alignment via Geodesic Distance on Grassmann Manifold
Jaeho Shin, Hyeonjae Gil, Junwoo Jang +2
Affine Grassmannian has been favored for expressing proximity between lines and planes due to its theoretical exactness in measuring distances among features. Despite this advantag…
cs.RO2025
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…
cs.RO2025
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…