5 papers
eCDT: Event Clustering for Simultaneous Feature Detection and Tracking-
Sumin Hu, Yeeun Kim, Hyungtae Lim +2
Contrary to other standard cameras, event cameras interpret the world in an entirely different manner; as a collection of asynchronous events. Despite event camera's unique data ou…
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…
WALK-VIO: Walking-motion-Adaptive Leg Kinematic Constraint Visual-Inertial Odometry for Quadruped Robots
Hyunjun Lim, Byeongho Yu, Yeeun Kim +4
In this paper, WALK-VIO, a novel visual-inertial odometry (VIO) with walking-motion-adaptive leg kinematic constraints that change with body motion for localization of quadruped ro…
Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features
Hyunjun Lim, Yeeun Kim, Kwangik Jung +2
In this paper, a degeneracy avoidance method for a point and line based visual SLAM algorithm is proposed. Visual SLAM predominantly uses point features. However, point features la…
ALVIO: Adaptive Line and Point Feature-based Visual Inertial Odometry for Robust Localization in Indoor Environments
KwangYik Jung, YeEun Kim, HyunJun Lim +1
The amount of texture can be rich or deficient depending on the objects and the structures of the building. The conventional mono visual-initial navigation system (VINS)-based loca…