12 citations · 16 across the 13 of their papers we have counts for
14 papers
CIG-RL: Curiosity-Driven Information-Guided Reinforcement Learning for Source Term Estimation in Uncertain Environments
Junhee Lee, Seunghwan Kim, Hongro Jang +4
Source term estimation (STE), which aims to estimate key properties of the gas source, is essential for identifying hazardous gas releases. Information-theoretic approaches have be…
Deep Probabilistic Indoor Gas Source Localization via Physical Dependency-Guided Sequential Inference
Seunghwan Kim, Hyungjin Kim, Junhee Lee +1
Reliable gas source localization (GSL) is critical to safety in industrial and urban environments, yet remains challenging indoors because walls and obstacles interact with airflow…
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…
Kernel-SDF: An Open-Source Library for Real-Time Signed Distance Function Estimation using Kernel Regression
Zhirui Dai, Tianxing Fan, Mani Amani +4
Accurate and efficient scene representation is crucial for robotic tasks such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a p…
Communication-Free Collective Navigation for a Swarm of UAVs via LiDAR-Based Deep Reinforcement Learning
Myong-Yol Choi, Hankyoul Ko, Hanse Cho +4
This paper presents a deep reinforcement learning (DRL) based controller for collective navigation of unmanned aerial vehicle (UAV) swarms in communication-denied environments, 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…
Kalman Filter-Based Distributed Gaussian Process for Unknown Scalar Field Estimation in Wireless Sensor Networks
Jaemin Seo, Geunsik Bae, Hyondong Oh
In this letter, we propose an online scalar field estimation algorithm of unknown environments using a distributed Gaussian process (DGP) framework in wireless sensor networks (WSN…
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…
EKF-Based Radar-Inertial Odometry with Online Temporal Calibration
Changseung Kim, Geunsik Bae, Woojae Shin +2
Accurate time synchronization between heterogeneous sensors is crucial for ensuring robust state estimation in multi-sensor fusion systems. Sensor delays often cause discrepancies…
Enhancing Exploration Efficiency using Uncertainty-Aware Information Prediction
Seunghwan Kim, Heejung Shin, Gaeun Yim +2
Autonomous exploration is a crucial aspect of robotics, enabling robots to explore unknown environments and generate maps without prior knowledge. This paper proposes a method to e…
Design and Identification of Keypoint Patches in Unstructured Environments
Taewook Park, Seunghwan Kim, Hyondong Oh
Reliable perception of targets is crucial for the stable operation of autonomous robots. A widely preferred method is keypoint identification in an image, as it allows direct mappi…
Sector Bounds for Vertical Cable Force Error in Cable-Suspended Load Transportation System
Lidan Xu, Hao Lu, JianLiang Wang +2
This article studies the collaborative transportation of a cable-suspended pipe by two quadrotors. A force-coordination control scheme is proposed, where a force-consensus term is…