1 citations · 2 across the 9 of their papers we have counts for
12 papers
RoMo-GS: Efficient Online 3D Gaussian Splatting for Robot Mapping via Exposure-Integrated Motion Blur
Sangwoo Jung, Di Deng, Jiahui Fu +3
Online 3D Gaussian Splatting (3DGS) is emerging as a practical way to build a representation for robotics applications. However, deploying it on real-world platforms exposes multip…
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…
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…
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…
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…
TRansPose: Large-Scale Multispectral Dataset for Transparent Object
Jeongyun Kim, Myung-Hwan Jeon, Sangwoo Jung +4
Transparent objects are encountered frequently in our daily lives, yet recognizing them poses challenges for conventional vision sensors due to their unique material properties, no…
Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
Minwoo Jung, Sangwoo Jung, Ayoung Kim
In recent years, multiple Light Detection and Ranging (LiDAR) systems have grown in popularity due to their enhanced accuracy and stability from the increased field of view (FOV).…