3 papers
stat.ML2026
Why Learning Rediscovers the Closed-Form Diagonal Regularizer
Jeahn Han, Pyojin Kim
We identify a diagonal saturation principle in modal inverse problems: when truncation noise is isotropic, the Bayes-optimal Tikhonov shape is a closed-form power law Gamma_k propo…
cs.CV2026
GALoc: Gravity Aligned Wireframes for Depth-Free Monocular Floorplan Localization
Jeahn Han, Minji Kim, Jeongbin Sohn +3
Floorplans are compact, appearance-invariant maps ideal for indoor localization, yet existing methods rely on depth networks that are brittle in cluttered scenes. We propose GALoc,…
cs.RO2024
SoMaSLAM: 2D Graph SLAM for Sparse Range Sensing with Soft Manhattan World Constraints
Jeahn Han, Zichao Hu, Seonmo Yang +2
We propose a graph SLAM algorithm for sparse range sensing that incorporates a soft Manhattan world utilizing landmark-landmark constraints. Sparse range sensing is necessary for t…