5 papers
ASPIRE-VINS: Adaptive Spline-based Visual-inertial Navigation System With Robust 3D Measurement Residuals
Kwangyik Jung, Eungchang Mason Lee, Taekjun Oh +1
Visual-inertial navigation systems estimate six-degree-of-freedom motion by fusing visual and inertial data. Modern discrete-time methods with IMU preintegration provide strong acc…
GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow
Dong-Uk Seo, Jinwoo Jeon, Eungchang Mason Lee +1
Gaussian splatting has recently gained traction as a compelling map representation for SLAM systems, enabling dense and photo-realistic scene modeling. However, its application to…
AIM-SLAM: Dense Monocular SLAM via Adaptive and Informative Multi-View Keyframe Prioritization with Foundation Model
Jinwoo Jeon, Dong-Uk Seo, Eungchang Mason Lee +1
Recent advances in geometric foundation models have emerged as a promising alternative for addressing the challenge of dense reconstruction in monocular visual simultaneous localiz…
LODESTAR: Degeneracy-Aware LiDAR-Inertial Odometry with Adaptive Schmidt-Kalman Filter and Data Exploitation
Eungchang Mason Lee, Kevin Christiansen Marsim, Hyun Myung
LiDAR-inertial odometry (LIO) has been widely used in robotics due to its high accuracy. However, its performance degrades in degenerate environments, such as long corridors and hi…
SaWa-ML: Structure-Aware Pose Correction and Weight Adaptation-Based Robust Multi-Robot Localization
Junho Choi, Kihwan Ryoo, Jeewon Kim +6
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use cam…