4 papers
GSAT: Geometric Traversability Estimation using Self-supervised Learning with Anomaly Detection for Diverse Terrains
Dongjin Cho, Miryeong Park, Juhui Lee +2
Safe autonomous navigation requires reliable estimation of environmental traversability. Traditional methods have relied on semantic or geometry-based approaches with human-defined…
CUTE-Planner: Confidence-aware Uneven Terrain Exploration Planner
Miryeong Park, Dongjin Cho, Sanghyun Kim +1
Planetary exploration robots must navigate uneven terrain while building reliable maps for space missions. However, most existing methods incorporate traversability constraints but…
SKiD-SLAM: Robust, Lightweight, and Distributed Multi-Robot LiDAR SLAM in Resource-Constrained Field Environments
Hogyun Kim, Jiwon Choi, Juwon Kim +4
Distributed LiDAR SLAM is crucial for achieving efficient robot autonomy and improving the scalability of mapping. However, two issues need to be considered when applying it in fie…
PoLaRIS Dataset: A Maritime Object Detection and Tracking Dataset in Pohang Canal
Jiwon Choi, Dongjin Cho, Gihyeon Lee +4
Maritime environments often present hazardous situations due to factors such as moving ships or buoys, which become obstacles under the influence of waves. In such challenging cond…