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06/22/2023
Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination
Quadrupedal robots have emerged as a cutting-edge platform for assisting...
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04/25/2023
AdaLIO: Robust Adaptive LiDAR-Inertial Odometry in Degenerate Indoor Environments
In recent years, the demand for mapping construction sites or buildings ...
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04/17/2023
(LC)^2: LiDAR-Camera Loop Constraints For Cross-Modal Place Recognition
Localization has been a challenging task for autonomous navigation. A lo...
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03/03/2023
ORORA: Outlier-Robust Radar Odometry
Radar sensors are emerging as solutions for perceiving surroundings and ...
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01/25/2023
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning
Quadrupedal robots resemble the physical ability of legged animals to wa...
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12/30/2022
X-MAS: Extremely Large-Scale Multi-Modal Sensor Dataset for Outdoor Surveillance in Real Environments
In robotics and computer vision communities, extensive studies have been...
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11/04/2022
Low-cost Thermal Mapping for Concrete Heat Monitoring
Robotics has been widely applied in smart construction for generating th...
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08/24/2022
DynaVINS: A Visual-Inertial SLAM for Dynamic Environments
Visual inertial odometry and SLAM algorithms are widely used in various ...
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07/25/2022
Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud
In the field of 3D perception using 3D LiDAR sensors, ground segmentatio...
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07/19/2022
eCDT: Event Clustering for Simultaneous Feature Detection and Tracking-
Contrary to other standard cameras, event cameras interpret the world in...
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07/07/2022
Retro-RL: Reinforcing Nominal Controller With Deep Reinforcement Learning for Tilting-Rotor Drones
Studies that broaden drone applications into complex tasks require a sta...
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06/07/2022
TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans
Perception of traversable regions and objects of interest from a 3D poin...
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06/01/2022
PaGO-LOAM: Robust Ground-Optimized LiDAR Odometry
Numerous researchers have conducted studies to achieve fast and robust g...
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04/29/2022
Struct-MDC: Mesh-Refined Unsupervised Depth Completion Leveraging Structural Regularities from Visual SLAM
Feature-based visual simultaneous localization and mapping (SLAM) method...
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04/13/2022
ViViD++: Vision for Visibility Dataset
In this paper, we present a dataset capturing diverse visual data format...
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03/13/2022
A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments
Global registration using 3D point clouds is a crucial technology for mo...
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02/11/2022
STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor
We propose a novel state estimator for legged robots, STEP, achieved thr...
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12/27/2021
Adversarial Attack for Asynchronous Event-based Data
Deep neural networks (DNNs) are vulnerable to adversarial examples that ...
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12/27/2021
UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping
In feature-based simultaneous localization and mapping (SLAM), line feat...
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12/03/2021
Gesture Recognition with a Skeleton-Based Keyframe Selection Module
We propose a bidirectional consecutively connected two-pathway network (...
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11/30/2021
WALK-VIO: Walking-motion-Adaptive Leg Kinematic Constraint Visual-Inertial Odometry for Quadruped Robots
In this paper, WALK-VIO, a novel visual-inertial odometry (VIO) with wal...
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09/02/2021
MIR-VIO: Mutual Information Residual-based Visual Inertial Odometry with UWB Fusion for Robust Localization
For many years, there has been an impressive progress on visual odometry...
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08/15/2021
A Morphing Quadrotor that Can Optimize Morphology for Transportation
Multirotors can be effectively applied to various tasks, such as transpo...
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08/12/2021
Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor
Ground segmentation is crucial for terrestrial mobile platforms to perfo...
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08/11/2021
Low-level Pose Control of Tilting Multirotor for Wall Perching Tasks Using Reinforcement Learning
Recently, needs for unmanned aerial vehicles (UAVs) that are attachable ...
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08/05/2021
REAL: Rapid Exploration with Active Loop-Closing toward Large-Scale 3D Mapping using UAVs
Exploring an unknown environment without colliding with obstacles is one...
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06/18/2021
Equivariance-bridged SO(2)-Invariant Representation Learning using Graph Convolutional Network
Training a Convolutional Neural Network (CNN) to be robust against rotat...
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03/07/2021
ERASOR: Egocentric Ratio of Pseudo Occupancy-based Dynamic Object Removal for Static 3D Point Cloud Map Building
Scan data of urban environments often include representations of dynamic...
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03/02/2021
Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle
This paper presents benchmark tests of various visual(-inertial) odometr...
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03/02/2021
Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features
In this paper, a degeneracy avoidance method for a point and line based ...
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12/30/2020
ALVIO: Adaptive Line and Point Feature-based Visual Inertial Odometry for Robust Localization in Indoor Environments
The amount of texture can be rich or deficient depending on the objects ...
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12/29/2020
Peacock Exploration: A Lightweight Exploration for UAV using Control-Efficient Trajectory
Unmanned Aerial Vehicles have received much attention in recent years du...
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08/04/2020
MSDPN: Monocular Depth Prediction with Partial Laser Observation using Multi-stage Neural Networks
In this study, a deep-learning-based multi-stage network architecture ca...
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08/04/2020
Development and Analysis of Digging and Soil Removing Mechanisms for Mole-Bot: Bio-Inspired Mole-Like Drilling Robot
Interests in exploration of new energy resources are increasing due to t...
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08/04/2020