3 papers
cs.RO2026
Query-Calibrated Segmental Admission for Descriptor-Agnostic LiDAR Loop Closure in Repetitive Environments
Jaehyun Kim, Seungwon Choi, Wonseok Kang +1
Structurally repetitive environments produce visually plausible but aliased LiDAR loop candidates that can destabilize pose-graph optimization when admitted as loop factors. We pro…
cs.RO2025
Surfel-LIO: Fast LiDAR-Inertial Odometry with Pre-computed Surfels and Hierarchical Z-order Voxel Hashing
Seungwon Choi, Dong-Gyu Park, Seo-Yeon Hwang +1
LiDAR-inertial odometry (LIO) is an active research area, as it enables accurate real-time state estimation in GPS-denied environments. Recent advances in map data structures and s…
cs.RO2025
Statistical Uncertainty Learning for Robust Visual-Inertial State Estimation
Seungwon Choi, Donggyu Park, Seo-Yeon Hwang +1
A fundamental challenge in robust visual-inertial odometry (VIO) is to dynamically assess the reliability of sensor measurements. This assessment is crucial for properly weighting…