2 citations · 3 across the 7 of their papers we have counts for
8 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…
Raymoval: Raycasting-based Dynamic Object Removal for Static 3D Mapping
Daebeom Kim, Seungjae Lee, Seoyeon Jang +2
Static mapping is fundamental to robot navigation, providing a persistent geometric prior and a consistent reference for long-term autonomy. However, dynamic objects leave residual…
SE(3)-LIO: Smooth IMU Propagation With Jointly Distributed Poses on SE(3) Manifold for Accurate and Robust LiDAR-Inertial Odometry
Gunhee Shin, Seungjae Lee, Jei Kong +2
In estimating odometry accurately, an inertial measurement unit (IMU) is widely used owing to its high-rate measurements, which can be utilized to obtain motion information through…
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…
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…
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…