4 citations · 5 across the 4 of their papers we have counts for
5 papers
Recovering from Pose-Selection Failures in Repeated Visual Localization
Jaehyun Kim, Wonseok Kang, Tae-Wan Kim
Repetitive structures can give an incorrect pose candidate more inlier support than an accurate one, causing visual localization to select it. History-Guided Pose Reselection (HPR)…
Reference-Induced Consensus for Selective Posed-Reference Visual Localization
Wonseok Kang, Jaehyun Kim, Jeongmin Lee +1
We present RIC-Loc (Reference-Induced Consensus localization), a scene-training-free posed-reference localizer that is SfM-point-map-free in its main estimator: it uses known refer…
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…