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cs.RO2024★ 20 cited
NV-LIO: LiDAR-Inertial Odometry using Normal Vectors Towards Robust SLAM in Multifloor Environments
Dongha Chung, Jinwhan Kim
Over the last few decades, numerous LiDAR-inertial odometry (LIO) algorithms have been developed, demonstrating satisfactory performance across diverse environments. Most of these…
cs.RO2023★ 2 cited
Nonlinear Model Predictive Control with Obstacle Avoidance Constraints for Autonomous Navigation in a Canal Environment
Changyu Lee, Dongha Chung, Jonghwi Kim +1
In this paper, we describe the development process of autonomous navigation capabilities of a small cruise boat operating in a canal environment and present the results of a field…
cs.RO2023
Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters
Dongha Chung, Jonghwi Kim, Changyu Lee +1
This paper presents a multimodal maritime dataset and the data collection procedure used to gather it, which aims to facilitate autonomous navigation in restricted water environmen…