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cs.RO2026
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…
cs.RO2024
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…
cs.RO2023
ORORA: Outlier-Robust Radar Odometry
Hyungtae Lim, Kawon Han, Gunhee Shin +3
Radar sensors are emerging as solutions for perceiving surroundings and estimating ego-motion in extreme weather conditions. Unfortunately, radar measurements are noisy and suffer…