4 citations · 5 across the 4 of their papers we have counts for
3 papers · 1 filter
Calibrated Keyframe-Segment Selection for Descriptor-Agnostic LiDAR Loop Closure in Repetitive Environments
Jaehyun Kim, Seungwon Choi, Wonseok Kang +1
False LiDAR loop closures can distort pose graphs in repetitive environments, where one query may match several distant places. Genuine revisits, unlike many perceptual aliases, te…
Efficient Graduated Non-Convexity for Pose Graph Optimization
Wonseok Kang, Jaehyun Kim, Jiseong Chung +2
We propose a novel approach to Graduated Non-Convexity (GNC) and demonstrate its efficacy through its application in robust pose graph optimization, a key component in SLAM backend…
Adaptive Graduated Non-Convexity for Pose Graph Optimization
Seungwon Choi, Wonseok Kang, Jiseong Chung +2
We present a novel approach to robust pose graph optimization based on Graduated Non-Convexity (GNC). Unlike traditional GNC-based methods, the proposed approach employs an adaptiv…