9 citations · 18 across the 24 of their papers we have counts for
26 papers
RaDiVe: Robust 4D Radar Odometry with Distance-Bounded NDT and Velocity-Discrepancy Point Uncertainty
Sangwoo Jung, Dongjae Lee, Chiyun Noh +1
Recent advances in 4D radar enable robust perception in adverse weather; however, the inherent sparsity, noise, and limited positional precision of radar point clouds pose signific…
Geometrically-Constrained Radar-Inertial Odometry via Continuous Point-Pose Uncertainty Modeling
Wooseong Yang, Dongjae Lee, Minwoo Jung +1
Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performanc…
TreeLoc++: Robust 6-DoF LiDAR Localization in Forests with a Compact Digital Forest Inventory
Minwoo Jung, Dongjae Lee, Nived Chebrolu +3
Reliable localization is essential for sustainable forest management, as it allows robots to revisit and monitor the status of individual trees over long periods. In modern forestr…
XPRESS: X-Band Radar Place Recognition via Elliptical Scan Shaping
Hyesu Jang, Wooseong Yang, Ayoung Kim +2
X-band radar serves as the primary sensor on maritime vessels, however, its application in autonomous navigation has been limited due to low sensor resolution and insufficient info…
GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry
Chiyun Noh, Sangwoo Jung, Hanjun Kim +3
Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured environments) has gained increasing preference over wheel-based platforms. I…
SHeRLoc: Synchronized Heterogeneous Radar Place Recognition for Cross-Modal Localization
Hanjun Kim, Minwoo Jung, Wooseong Yang +1
Despite the growing adoption of radar in robotics, the majority of research has been confined to homogeneous sensor types, overlooking the integration and cross-modality challenges…
The City that Never Settles: Simulation-based LiDAR Dataset for Long-Term Place Recognition Under Extreme Structural Changes
Hyunho Song, Dongjae Lee, Seunghun Oh +2
Large-scale construction and demolition significantly challenge long-term place recognition (PR) by drastically reshaping urban and suburban environments. Existing datasets predomi…
ImLPR: Image-based LiDAR Place Recognition using Vision Foundation Models
Minwoo Jung, Lanke Frank Tarimo Fu, Maurice Fallon +1
LiDAR Place Recognition (LPR) is a key component in robotic localization, enabling robots to align current scans with prior maps of their environment. While Visual Place Recognitio…
Ephemerality meets LiDAR-based Lifelong Mapping
Hyeonjae Gil, Dongjae Lee, Giseop Kim +1
Lifelong mapping is crucial for the long-term deployment of robots in dynamic environments. In this paper, we present ELite, an ephemerality-aided LiDAR-based lifelong mapping fram…
Ground-Optimized 4D Radar-Inertial Odometry via Continuous Velocity Integration using Gaussian Process
Wooseong Yang, Hyesu Jang, Ayoung Kim
Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these chal…
GaRLIO: Gravity enhanced Radar-LiDAR-Inertial Odometry
Chiyun Noh, Wooseong Yang, Minwoo Jung +2
Recently, gravity has been highlighted as a crucial constraint for state estimation to alleviate potential vertical drift. Existing online gravity estimation methods rely on pose e…
HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM
Hanjun Kim, Minwoo Jung, Chiyun Noh +5
Recently, radars have been widely featured in robotics for their robustness in challenging weather conditions. Two commonly used radar types are spinning radars and phased-array ra…
HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer
Minwoo Jung, Sangwoo Jung, Hyeonjae Gil +1
LiDAR place recognition is a crucial module in localization that matches the current location with previously observed environments. Most existing approaches in LiDAR place recogni…
MOANA: Multi-Radar Dataset for Maritime Odometry and Autonomous Navigation Application
Hyesu Jang, Wooseong Yang, Hanguen Kim +12
Maritime environmental sensing requires overcoming challenges from complex conditions such as harsh weather, platform perturbations, large dynamic objects, and the requirement for…
Quantitative 3D Map Accuracy Evaluation Hardware and Algorithm for LiDAR(-Inertial) SLAM
Sanghyun Hahn, Seunghun Oh, Minwoo Jung +2
Accuracy evaluation of a 3D pointcloud map is crucial for the development of autonomous driving systems. In this work, we propose a user-independent software/hardware system that c…
Co-RaL: Complementary Radar-Leg Odometry with 4-DoF Optimization and Rolling Contact
Sangwoo Jung, Wooseong Yang, Ayoung Kim
Robust and accurate localization in challenging environments is becoming crucial for SLAM. In this paper, we propose a unique sensor configuration for precise and robust odometry b…
ConPR: Ongoing Construction Site Dataset for Place Recognition
Dongjae Lee, Minwoo Jung, Ayoung Kim
Place recognition, an essential challenge in computer vision and robotics, involves identifying previously visited locations. Despite algorithmic progress, challenges related to ap…
Fieldscale: Locality-Aware Field-based Adaptive Rescaling for Thermal Infrared Image
Hyeonjae Gil, Myung-Hwan Jeon, Ayoung Kim
Thermal infrared (TIR) cameras are emerging as promising sensors in safety-related fields due to their robustness against external illumination. However, RAW TIR image has 14 bits…
Toward Robust LiDAR based 3D Object Detection via Density-Aware Adaptive Thresholding
Eunho Lee, Minwoo Jung, Ayoung Kim
Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object d…
Adaptive LiDAR-Radar Fusion for Outdoor Odometry Across Dense Smoke Conditions
Chiyun Noh, Ayoung Kim
Robust odometry estimation in perceptually degraded environments represents a key challenge in the field of robotics. In this paper, we propose a LiDAR-radar fusion method for robu…
2D Ego-Motion with Yaw Estimation using Only mmWave Radars via Two-Way weighted ICP
Hojune Kim, Hyesu Jang, Ayoung Kim
The interest in single-chip mmWave Radar is driven by their compact form factor, cost-effectiveness, and robustness under harsh environmental conditions. Despite its promising attr…
Imaging radar and LiDAR image translation for 3-DOF extrinsic calibration
Sangwoo Jung, Hyesu Jang, Minwoo Jung +2
The integration of sensor data is crucial in the field of robotics to take full advantage of the various sensors employed. One critical aspect of this integration is determining th…
Unbiased Estimator for Distorted Conics in Camera Calibration
Chaehyeon Song, Jaeho Shin, Myung-Hwan Jeon +2
In the literature, points and conics have been major features for camera geometric calibration. Although conics are more informative features than points, the loss of the conic pro…
LodeStar: Maritime Radar Descriptor for Semi-Direct Radar Odometry
Hyesu Jang, Minwoo Jung, Myung-Hwan Jeon +1
Maritime radars are prevalently adopted to capture the vessel's omnidirectional data as imagery. Nevertheless, inherent challenges persist with marine radars, including limited fre…