33 citations · 49 across the 11 of their papers we have counts for
12 papers
RadLoc: Radar-based 3-DoF Global Localization via Fast, Robust, and Lightweight Spatial Descriptor Across Diverse Environmental Scenarios
Hogyun Kim, Jiwon Choi, Jungwoo Lee +1
While global localization using spinning radar has gained attention for its robustness to adverse weather and challenging environments, many studies have focused on individual comp…
Robust Image Processing Techniques for Construction Environment Monitoring Using Underwater Robots
Seunghee Yun, Geonmo Yang, Juhui Lee +3
This paper proposes a robust image processing framework for underwater robot-based construction environment monitoring, targeting complex degradations observed in real marine envir…
Commerge: Communication-Efficient, Robust, and Fast LiDAR Map Merging Framework for Multi-Robot Coordination in Resource-Constrained Scenarios
Hogyun Kim, Jiwon Choi, Juwon Kim +4
By maintaining global consistency across robot teams, multi-robot LiDAR map merging enables faster exploration and efficient area coverage. However, map merging requires exchanging…
KISS-IMU: Self-supervised Inertial Odometry with Motion-balanced Learning and Uncertainty-aware Inference
Jiwon Choi, Hogyun Kim, Geonmo Yang +2
Inertial measurement units (IMUs), which provide high-frequency linear acceleration and angular velocity measurements, serve as fundamental sensing modalities in robotic systems. R…
Uni-Mapper: Unified Mapping Framework for Multi-modal LiDARs in Complex and Dynamic Environments
Gilhwan Kang, Hogyun Kim, Byunghee Choi +3
The unification of disparate maps is crucial for enabling scalable robot operation across multiple sessions and collaborative multi-robot scenarios. However, achieving a unified ma…
MARSCalib: Multi-robot, Automatic, Robust, Spherical Target-based Extrinsic Calibration in Field and Extraterrestrial Environments
Seokhwan Jeong, Hogyun Kim, Younggun Cho
This paper presents a novel spherical target-based LiDAR-camera extrinsic calibration method designed for outdoor environments with multi-robot systems, considering both target and…
SKiD-SLAM: Robust, Lightweight, and Distributed Multi-Robot LiDAR SLAM in Resource-Constrained Field Environments
Hogyun Kim, Jiwon Choi, Juwon Kim +4
Distributed LiDAR SLAM is crucial for achieving efficient robot autonomy and improving the scalability of mapping. However, two issues need to be considered when applying it in fie…
PoLaRIS Dataset: A Maritime Object Detection and Tracking Dataset in Pohang Canal
Jiwon Choi, Dongjin Cho, Gihyeon Lee +4
Maritime environments often present hazardous situations due to factors such as moving ships or buoys, which become obstacles under the influence of waves. In such challenging cond…
DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot SLAM in Multi-session Environments
Juwon Kim, Hogyun Kim, Seokhwan Jeong +2
We encounter large-scale environments where both structured and unstructured spaces coexist, such as on campuses. In this environment, lighting conditions and dynamic objects chang…
Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition
Hogyun Kim, Jiwon Choi, Taehu Sim +2
We often encounter limited FOV situations due to various factors such as sensor fusion or sensor mount in real-world robot navigation. However, the limited FOV interrupts the gener…
ReFeree: Radar-Based Lightweight and Robust Localization using Feature and Free space
Hogyun Kim, Byunghee Choi, Euncheol Choi +1
Place recognition plays an important role in achieving robust long-term autonomy. Real-world robots face a wide range of weather conditions (e.g. overcast, heavy rain, and snowing)…
ReFeree: Radar-based efficient global descriptor using a Feature and Free space for Place Recognition
Byunghee Choi, Hogyun Kim, Younggun Cho
Radar is highlighted for robust sensing capabilities in adverse weather conditions (e.g. dense fog, heavy rain, or snowfall). In addition, Radar can cover wide areas and penetrate…