3 papers
cs.RO2026
Are Visual Place Recognition Models Recognizing Places or Conditions? Distractor-Augmented Evaluation and Condition Suppression
Beomsu Kim, Minwoo Jung, Giseop Kim
Long-term Visual Place Recognition (VPR) is typically evaluated by matching queries from one condition against a database from another. Crowdsourced map databases, however, may mix…
cs.RO2025
TRAN-D: 2D Gaussian Splatting-based Sparse-view Transparent Object Depth Reconstruction via Physics Simulation for Scene Update
Jeongyun Kim, Seunghoon Jeong, Giseop Kim +3
Understanding the 3D geometry of transparent objects from RGB images is challenging due to their inherent physical properties, such as reflection and refraction. To address these d…
cs.RO2025
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…