5 papers
Elasticity Meets Continuous-Time: Map-Centric Dense 3D LiDAR SLAM
Chanoh Park, Peyman Moghadam, Jason Williams +3
Map-centric SLAM utilizes elasticity as a means of loop closure. This approach reduces the cost of loop closure while still provides large-scale fusion-based dense maps, when compa…
Spatiotemporal Camera-LiDAR Calibration: A Targetless and Structureless Approach
Chanoh Park, Peyman Moghadam, Soohwan Kim +2
The demand for multimodal sensing systems for robotics is growing due to the increase in robustness, reliability and accuracy offered by these systems. These systems also need to b…
Robust Photogeometric Localization over Time for Map-Centric Loop Closure
Chanoh Park, Soohwan Kim, Peyman Moghadam +3
Map-centric SLAM is emerging as an alternative of conventional graph-based SLAM for its accuracy and efficiency in long-term mapping problems. However, in map-centric SLAM, the pro…
Local Descriptor for Robust Place Recognition using LiDAR Intensity
Jiadong Guo, Paulo V. K. Borges, Chanoh Park +1
Place recognition is a challenging problem in mobile robotics, especially in unstructured environments or under viewpoint and illumination changes. Most LiDAR-based methods rely on…
Probabilistic Surfel Fusion for Dense LiDAR Mapping
Chanoh Park, Soohwan Kim, Peyman Moghadam +2
With the recent development of high-end LiDARs, more and more systems are able to continuously map the environment while moving and producing spatially redundant information. Howev…