5 papers
DreamFLEX: Learning Fault-Aware Quadrupedal Locomotion Controller for Anomaly Situation in Rough Terrains
Seunghyun Lee, I Made Aswin Nahrendra, Dongkyu Lee +3
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or join…
TOSS: Real-time Tracking and Moving Object Segmentation for Static Scene Mapping
Seoyeon Jang, Minho Oh, Byeongho Yu +4
Safe navigation with simultaneous localization and mapping (SLAM) for autonomous robots is crucial in challenging environments. To achieve this goal, detecting moving objects in th…
B-TMS: Bayesian Traversable Terrain Modeling and Segmentation Across 3D LiDAR Scans and Maps for Enhanced Off-Road Navigation
Minho Oh, Gunhee Shin, Seoyeon Jang +7
Recognizing traversable terrain from 3D point cloud data is critical, as it directly impacts the performance of autonomous navigation in off-road environments. However, existing se…
Galibr: Targetless LiDAR-Camera Extrinsic Calibration Method via Ground Plane Initialization
Wonho Song, Minho Oh, Jaeyoung Lee +1
With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration…
Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots
Hyungtae Lim, Minho Oh, Seungjae Lee +2
With the increasing demand for mobile robots and autonomous vehicles, several approaches for long-term robot navigation have been proposed. Among these techniques, ground segmentat…