6 papers
LIVE-GS: Online LiDAR-Inertial-Visual State Estimation and Globally Consistent Mapping with 3D Gaussian Splatting
Jaeseok Park, Chanoh Park, Minsu Kim +2
While 3D Gaussian Splatting (3DGS) enabled photorealistic mapping, its integration into SLAM has largely followed traditional camera-centric pipelines. As a result, they inherit we…
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…
Elastic LiDAR Fusion: Dense Map-Centric Continuous-Time SLAM
Chanoh Park, Peyman Moghadam, Soohwan Kim +3
The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these adv…
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…