8 citations · 10 across the 3 of their papers we have counts for
3 papers
DIVO: Continuous-time DVL-Inertial-Visual Odometry for Unmanned Underwater Vehicles
Kyungmin Jung, Angad Bajwa, Junha Yoo +2
This paper presents a novel acoustic-visual-inertial odometry solution leveraging a continuous-time trajectory estimation framework for unmanned underwater vehicles. Underwater env…
An Adaptive Graduated Nonconvexity Loss Function for Robust Nonlinear Least Squares Solutions
Kyungmin Jung, Thomas Hitchcox, James Richard Forbes
Many problems in robotics, such as estimating the state from noisy sensor data or aligning two point clouds, can be posed and solved as least-squares problems. Unfortunately, vanil…
Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments
Kyungmin Jung, Thomas Hitchcox, James Richard Forbes
The recent development of high-precision subsea optical scanners allows for 3D keypoint detectors and feature descriptors to be leveraged on point cloud scans from subsea environme…