6 papers
A Sparse Topometric Graph for Scalable Cross-Session Indoor Navigation
Eun Sun Lee, Minkyun Seo, Gwangtak Bae +4
A conventional embodied agent in an indoor environment builds a map by accumulating noisy real-world measurements and results from heavy inference to guide navigation. While the de…
Analogical Trajectory Transfer
Junho Kim, Eun Sun Lee, Gwangtak Bae +2
We study analogical trajectory transfer, where the goal is to translate motion trajectories in one 3D environment to a semantically analogous location in another. Such a capacity w…
RoEL: Robust Event-based 3D Line Reconstruction
Gwangtak Bae, Jaeho Shin, Seunggu Kang +3
Event cameras in motion tend to detect object boundaries or texture edges, which produce lines of brightness changes, especially in man-made environments. While lines can constitut…
Learning 3D Scene Analogies with Neural Contextual Scene Maps
Junho Kim, Gwangtak Bae, Eun Sun Lee +1
Understanding scene contexts is crucial for machines to perform tasks and adapt prior knowledge in unseen or noisy 3D environments. As data-driven learning is intractable to compre…
I-SLAM: Inverting Imaging Process for Robust Photorealistic Dense SLAM
Gwangtak Bae, Changwoon Choi, Hyeongjun Heo +2
We present an inverse image-formation module that can enhance the robustness of existing visual SLAM pipelines for casually captured scenarios. Casual video captures often suffer f…
SLiDE: Self-supervised LiDAR De-snowing through Reconstruction Difficulty
Gwangtak Bae, Byungjun Kim, Seongyong Ahn +2
LiDAR is widely used to capture accurate 3D outdoor scene structures. However, LiDAR produces many undesirable noise points in snowy weather, which hamper analyzing meaningful 3D s…