9 citations · 16 across the 12 of their papers we have counts for
12 papers
ASPIRE-VINS: Adaptive Spline-based Visual-inertial Navigation System With Robust 3D Measurement Residuals
Kwangyik Jung, Eungchang Mason Lee, Taekjun Oh +1
Visual-inertial navigation systems estimate six-degree-of-freedom motion by fusing visual and inertial data. Modern discrete-time methods with IMU preintegration provide strong acc…
GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow
Dong-Uk Seo, Jinwoo Jeon, Eungchang Mason Lee +1
Gaussian splatting has recently gained traction as a compelling map representation for SLAM systems, enabling dense and photo-realistic scene modeling. However, its application to…
AIM-SLAM: Dense Monocular SLAM via Adaptive and Informative Multi-View Keyframe Prioritization with Foundation Model
Jinwoo Jeon, Dong-Uk Seo, Eungchang Mason Lee +1
Recent advances in geometric foundation models have emerged as a promising alternative for addressing the challenge of dense reconstruction in monocular visual simultaneous localiz…
LODESTAR: Degeneracy-Aware LiDAR-Inertial Odometry with Adaptive Schmidt-Kalman Filter and Data Exploitation
Eungchang Mason Lee, Kevin Christiansen Marsim, Hyun Myung
LiDAR-inertial odometry (LIO) has been widely used in robotics due to its high accuracy. However, its performance degrades in degenerate environments, such as long corridors and hi…
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…
Retro-RL: Reinforcing Nominal Controller With Deep Reinforcement Learning for Tilting-Rotor Drones
I Made Aswin Nahrendra, Christian Tirtawardhana, Byeongho Yu +2
Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many stu…
TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans
Minho Oh, Euigon Jung, Hyungtae Lim +7
Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversabl…
STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor
Yeeun Kim, Byeongho Yu, Eungchang Mason Lee +3
We propose a novel state estimator for legged robots, STEP, achieved through a novel preintegrated foot velocity factor. In the preintegrated foot velocity factor, the usual non-sl…
MIR-VIO: Mutual Information Residual-based Visual Inertial Odometry with UWB Fusion for Robust Localization
Sungjae Shin, Eungchang Lee, Junho Choi +1
For many years, there has been an impressive progress on visual odometry applied to mobile robots and drones. However, the visual perception is still in the spotlight as a challeng…
REAL: Rapid Exploration with Active Loop-Closing toward Large-Scale 3D Mapping using UAVs
Eungchang Mason Lee, Junho Choi, Hyungtae Lim +1
Exploring an unknown environment without colliding with obstacles is one of the essentials of autonomous vehicles to perform diverse missions such as structural inspections, rescue…
Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle
Jinwoo Jeon, Sungwook Jung, Eungchang Lee +2
This paper presents benchmark tests of various visual(-inertial) odometry algorithms on NVIDIA Jetson platforms. The compared algorithms include mono and stereo, covering Visual Od…
Peacock Exploration: A Lightweight Exploration for UAV using Control-Efficient Trajectory
EungChang Mason Lee, Duckyu Choi, Hyun Myung
Unmanned Aerial Vehicles have received much attention in recent years due to its wide range of applications, such as exploration of an unknown environment to acquire a 3D map witho…