3 papers
cs.RO2026
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…
cs.RO2025
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…
cs.RO2025
CHADET: Cross-Hierarchical-Attention for Depth-Completion Using Unsupervised Lightweight Transformer
Kevin Christiansen Marsim, Jinwoo Jeon, Yeeun Kim +2
Depth information which specifies the distance between objects and current position of the robot is essential for many robot tasks such as navigation. Recently, researchers have pr…