51 citations · 117 across the 24 of their papers we have counts for
4 papers · 1 filter
Tightly-Coupled LiDAR-IMU-Leg Odometry with Online Learned Leg Kinematics Incorporating Foot Tactile Information
Taku Okawara, Kenji Koide, Aoki Takanose +4
In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed…
Tightly Coupled Range Inertial Odometry and Mapping with Exact Point Cloud Downsampling
Kenji Koide, Aoki Takanose, Shuji Oishi +1
In this work, to facilitate the real-time processing of multi-scan registration error minimization on factor graphs, we devise a point cloud downsampling algorithm based on coreset…
Range-based 6-DoF Monte Carlo SLAM with Gradient-guided Particle Filter on GPU
Takumi Nakao, Kenji Koide, Aoki Takanose +3
This paper presents range-based 6-DoF Monte Carlo SLAM with a gradient-guided particle update strategy. While non-parametric state estimation methods, such as particle filters, are…
SLAMSpoof: Practical LiDAR Spoofing Attacks on Localization Systems Guided by Scan Matching Vulnerability Analysis
Rokuto Nagata, Kenji Koide, Yuki Hayakawa +6
Accurate localization is essential for enabling modern full self-driving services. These services heavily rely on map-based traffic information to reduce uncertainties in recognizi…