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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…