3 papers
cs.RO2026
Raymoval: Raycasting-based Dynamic Object Removal for Static 3D Mapping
Daebeom Kim, Seungjae Lee, Seoyeon Jang +2
Static mapping is fundamental to robot navigation, providing a persistent geometric prior and a consistent reference for long-term autonomy. However, dynamic objects leave residual…
cs.RO2026
Chamelion: Reliable Change Detection for Long-Term LiDAR Mapping in Transient Environments
Seoyeon Jang, Alex Junho Lee, I Made Aswin Nahrendra +1
Online change detection is crucial for mobile robots to efficiently navigate through dynamic environments. Detecting changes in transient settings, such as active construction site…
cs.RO2024
TRIP: Terrain Traversability Mapping With Risk-Aware Prediction for Enhanced Online Quadrupedal Robot Navigation
Minho Oh, Byeongho Yu, I Made Aswin Nahrendra +8
Accurate traversability estimation using an online dense terrain map is crucial for safe navigation in challenging environments like construction and disaster areas. However, trave…