3 citations · 8 across the 13 of their papers we have counts for
14 papers
NM-LIO: Multiple LiDAR-Inertial Odometry Addressing LiDAR Measurement Noise Discrepancy
Gunhee Shin, Seungjae Lee, Minho Oh +4
Multiple LiDAR-inertial odometry methods have been widely applied in robotic applications owing to their enhanced accuracy and reliability. However, adopting multiple LiDAR systems…
Traversability-aware Consistent Situational Graphs for Indoor Localization and Mapping
Jeewon Kim, Minho Oh, Hyun Myung
Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends s…
LVI-Q: Robust LiDAR-Visual-Inertial-Kinematic Odometry for Quadruped Robots Using Tightly-Coupled and Efficient Alternating Optimization
Kevin Christiansen Marsim, Minho Oh, Byeongho Yu +4
Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and…
TACS-Graphs: Traversability-Aware Consistent Scene Graphs for Ground Robot Localization and Mapping
Jeewon Kim, Minho Oh, Hyun Myung
Scene graphs have emerged as a powerful tool for robots, providing a structured representation of spatial and semantic relationships for advanced task planning. Despite their poten…
DreamFLEX: Learning Fault-Aware Quadrupedal Locomotion Controller for Anomaly Situation in Rough Terrains
Seunghyun Lee, I Made Aswin Nahrendra, Dongkyu Lee +3
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or join…
TRG-planner: Traversal Risk Graph-Based Path Planning in Unstructured Environments for Safe and Efficient Navigation
Dongkyu Lee, I Made Aswin Nahrendra, Minho Oh +2
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular…
TRIP: Terrain Traversability Mapping With Risk-Aware Prediction for Enhanced Online Quadrupedal Robot Navigation
Minho Oh, Byeongho Yu, I Made Aswin Nahrendra +8
Accurate traversability estimation using an online dense terrain map is crucial for safe navigation in challenging environments like construction and disaster areas. However, trave…
TOSS: Real-time Tracking and Moving Object Segmentation for Static Scene Mapping
Seoyeon Jang, Minho Oh, Byeongho Yu +4
Safe navigation with simultaneous localization and mapping (SLAM) for autonomous robots is crucial in challenging environments. To achieve this goal, detecting moving objects in th…
B-TMS: Bayesian Traversable Terrain Modeling and Segmentation Across 3D LiDAR Scans and Maps for Enhanced Off-Road Navigation
Minho Oh, Gunhee Shin, Seoyeon Jang +7
Recognizing traversable terrain from 3D point cloud data is critical, as it directly impacts the performance of autonomous navigation in off-road environments. However, existing se…
Galibr: Targetless LiDAR-Camera Extrinsic Calibration Method via Ground Plane Initialization
Wonho Song, Minho Oh, Jaeyoung Lee +1
With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration…
Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots
Hyungtae Lim, Minho Oh, Seungjae Lee +2
With the increasing demand for mobile robots and autonomous vehicles, several approaches for long-term robot navigation have been proposed. Among these techniques, ground segmentat…
Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination
I Made Aswin Nahrendra, Minho Oh, Byeongho Yu +2
Quadrupedal robots have emerged as a cutting-edge platform for assisting humans, finding applications in tasks related to inspection and exploration in remote areas. Nevertheless,…
TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans
Minho Oh, Euigon Jung, Hyungtae Lim +7
Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversabl…
Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor
Hyungtae Lim, Minho Oh, Hyun Myung
Ground segmentation is crucial for terrestrial mobile platforms to perform navigation or neighboring object recognition. Unfortunately, the ground is not flat, as it features steep…