4 papers · 1 filter
Robust Image Processing Techniques for Construction Environment Monitoring Using Underwater Robots
Seunghee Yun, Geonmo Yang, Juhui Lee +3
This paper proposes a robust image processing framework for underwater robot-based construction environment monitoring, targeting complex degradations observed in real marine envir…
Commerge: Communication-Efficient, Robust, and Fast LiDAR Map Merging Framework for Multi-Robot Coordination in Resource-Constrained Scenarios
Hogyun Kim, Jiwon Choi, Juwon Kim +4
By maintaining global consistency across robot teams, multi-robot LiDAR map merging enables faster exploration and efficient area coverage. However, map merging requires exchanging…
GSAT: Geometric Traversability Estimation using Self-supervised Learning with Anomaly Detection for Diverse Terrains
Dongjin Cho, Miryeong Park, Juhui Lee +2
Safe autonomous navigation requires reliable estimation of environmental traversability. Traditional methods have relied on semantic or geometry-based approaches with human-defined…
KISS-IMU: Self-supervised Inertial Odometry with Motion-balanced Learning and Uncertainty-aware Inference
Jiwon Choi, Hogyun Kim, Geonmo Yang +2
Inertial measurement units (IMUs), which provide high-frequency linear acceleration and angular velocity measurements, serve as fundamental sensing modalities in robotic systems. R…