6 papers
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…
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…
LVI-Q: Robust LiDAR-Visual-Inertial-Kinematic Odometry for Quadruped Robots Using Tightly-Coupled and Efficient Alternating Optimization
Kevin Christiansen Marsim, Minho Oh, Byeongho Yu +4
Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and…
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…
SaWa-ML: Structure-Aware Pose Correction and Weight Adaptation-Based Robust Multi-Robot Localization
Junho Choi, Kihwan Ryoo, Jeewon Kim +6
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use cam…
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…