4 papers
GSFeatLoc: Visual Localization Using Feature Correspondence on 3D Gaussian Splatting
Jongwon Lee, Timothy Bretl
In this paper, we present a method for localizing a query image with respect to a precomputed 3D Gaussian Splatting (3DGS) scene representation. First, the method uses 3DGS to rend…
Efficient Extrinsic Self-Calibration of Multiple IMUs using Measurement Subset Selection
Jongwon Lee, David Hanley, Timothy Bretl
This paper addresses the problem of choosing a sparse subset of measurements for quick calibration parameter estimation. A standard solution to this is selecting a measurement only…
Comparative Study of Visual SLAM-Based Mobile Robot Localization Using Fiducial Markers
Jongwon Lee, Su Yeon Choi, David Hanley +1
This paper presents a comparative study of three modes for mobile robot localization based on visual SLAM using fiducial markers (i.e., square-shaped artificial landmarks with a bl…
The Use of Multi-Scale Fiducial Markers To Aid Takeoff and Landing Navigation by Rotorcraft
Jongwon Lee, Su Yeon Choi, Timothy Bretl
This paper quantifies the performance of visual SLAM that leverages multi-scale fiducial markers (i.e., artificial landmarks that can be detected at a wide range of distances) to s…