5 papers
Self-supervised Geometry Reasoning for LiDAR Simultaneous Localization and Mapping
Jiwoo Kim, Jinwoo Lee, Woojae Shin +2
LiDAR simultaneous localization and mapping (SLAM) relies on local geometric quantities such as covariances, correspondences, and surface structures. However, most existing pipelin…
Learning Point Cloud Geometry as a Statistical Manifold: Theory and Practice
Jinwoo Lee, Jiwoo Kim, Woojae Shin +2
Point clouds are a fundamental representation for robotic perception tasks such as localization, mapping, and object pose estimation. However, LiDAR-acquired point clouds are inher…
Doppler Correspondence: Non-Iterative Scan Matching With Doppler Velocity-Based Correspondence
Jiwoo Kim, Geunsik Bae, Changseung Kim +3
Achieving successful scan matching is essential for LiDAR odometry. However, in challenging environments with adverse weather conditions or repetitive geometric patterns, LiDAR odo…
RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation
Minwoo Kim, Geunsik Bae, Jinwoo Lee +5
This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, ena…
Optimizing Indoor Farm Monitoring Efficiency Using UAV: Yield Estimation in a GNSS-Denied Cherry Tomato Greenhouse
Taewook Park, Jinwoo Lee, Hyondong Oh +2
As the agricultural workforce declines and labor costs rise, robotic yield estimation has become increasingly important. While unmanned ground vehicles (UGVs) are commonly used for…