5 papers
Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups
Jaeho Shin, Maani Ghaffari, Yulun Tian
Modern robotic perception increasingly involves large-scale geometric optimization problems distributed across multiple robots or sessions. However, existing distributed solvers of…
Distributed Pose Graph Optimization via Continuous Riemannian Dynamics
Jaeho Shin, Maani Ghaffari, Yulun Tian
We present a framework for distributed Pose Graph Optimization (PGO) by formulating the problem as a second-order continuous-time dynamical system evolving on Lie groups. By modeli…
RoEL: Robust Event-based 3D Line Reconstruction
Gwangtak Bae, Jaeho Shin, Seunggu Kang +3
Event cameras in motion tend to detect object boundaries or texture edges, which produce lines of brightness changes, especially in man-made environments. While lines can constitut…
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…
PeLiCal: Targetless Extrinsic Calibration via Penetrating Lines for RGB-D Cameras with Limited Co-visibility
Jaeho Shin, Seungsang Yun, Ayoung Kim
RGB-D cameras are crucial in robotic perception, given their ability to produce images augmented with depth data. However, their limited FOV often requires multiple cameras to cove…