Robotics and Computer Vision Lab

Publications

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저 자 Dong-Geol Choi, Yunsu Bok, Jun-sik Kim, In So Kweon
학 회 IEEE Transactions on Robotics (T-RO)
논문일시(Year) 2016
논문일시(Month) 02
Scanned points of 2D lidars do not have enough feature information for correspondence matching.
For this reason, additional image sensors or artificial landmarks at known locations have been used to find the relative pose.
We propose a novel method of estimating the relative pose between 2D lidars without any additional sensors or artificial landmarks.
By scanning two orthogonal planes, we utilize the coplanarity of the scan points on each plane and the orthogonality of the plane normals.
Even if we do not capture exactly orthogonal planes, the method provides good results using non-linear optimization.
Experiments with both synthetic and real data show the validity of the proposed method.
We also derive two degenerate cases, one related to plane poses, the other caused by the relative pose.
To the best of our knowledge, this work provides the first solution for the problem.

List of Articles
468. 자율 주행 자동차의 환경 인식을 위한 센서 융합 연구 KAIST EureCar-Turbo
Kibaek Park, Seunghak Shin, Yongseop Jeong, Soonmin Hwang, In So Kweon
한국멀티미디어학회 추계학술대회 2015 / 11
467. Human Action Recognition by Attention and Object Network
Bonggeun Sim, Youngjin Yoon, Donggeun Yoo, In So Kweon
22th Korea-Japan Joint Workshop on Frontiers of Computer Vision 2016 / 02
466. Extrinsic calibration of a camera and a 2D laser without overlap
Yunsu Bok, Dong-Geol Choi, In So Kweon
Robotics and Autonomous Systems (RAS) 2016 / 04
465. Automated checkerboard detection and indexing using circular boundaries
Yunsu Bok, Hyowon Ha, In So Kweon
Pattern Recognition Letters (PRL) 2016 / 02
464. New Design Criteria for Robust PCA and a Compliant Bayesian-Inspired Algorithm
Tae-Hyun Oh, David Wipf, Yasuyuki Matsushita, In So Kweon
Tech. Report on arXiv 2015 / 12
463. 물체후보 분할과 제안을 위한 딥러닝
Dahun Kim, Tae-Hyun Oh, In So Kweon
추계학술발표대회 2015 / 11
462. Combinatorial Approach for Lane Detection using Image and LIDAR Reflectance
Seunghak Shin, Inwook Shim, In So Kweon
The 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015 / 10
» Extrinsic Calibration of 2D Lidars using Two Orthogonal Planes
Dong-Geol Choi, Yunsu Bok, Jun-sik Kim, In So Kweon
IEEE Transactions on Robotics (T-RO) 2016 / 02
460. Learning a Deep Convolutional Network for Light-Field Image Super-Resolution
Youngjin Yoon, Hae-Gon Jeon, Donggeun Yoo, Joon-Young Lee, In So Kweon
IEEE International Conference on Computer Vision Workshops (ICCV Workshops -CPCV) 2015 / 12
459. 6-DOF Direct Homography Tracking with Extended Kalman Filter
Hyowon Ha, Francois Rameau, In So Kweon
The 7th Pacific Rim Symposium on Image and Video Technology (PSIVT) [oral] 2015 / 11
458. AttentionNet: Aggregating Weak Directions for Accurate Object Detection
Donggeun Yoo, Sunggyun Park, Joon-Young Lee, Anthony Paek, In So Kweon
IEEE International Conference on Computer Vision (ICCV) 2015 / 12
457. Complementary Sets of Shutter Sequences for Motion Deblurring
Hae-Gon Jeon, Joon-Young Lee, Yudeog Han, Seon Joo Kim, In So Kweon
IEEE International Conference on Computer Vision (ICCV) 2015 / 12
456. High Quality Structure from Small Motion for Rolling Shutter Cameras
Sunghoon Im, Hyowon Ha, Gyeongmin Choe, Hae-Gon Jeon, Kyungdon Joo, In So Kweon
IEEE International Conference on Computer Vision (ICCV) 2015 / 12
455. Accurate Camera Calibration Robust to Defocus using a Smartphone
Hyowon Ha, Yunsu Bok, Kyungdon Joo, Jiyoung Jung, In So Kweon
IEEE International Conference on Computer Vision (ICCV) 2015 / 12
454. Relative Attributes with Deep Convolutional Neural Network
Dong-Jin Kim, Donggeun Yoo, Sunghoon Im, Namil Kim, T. Sirinukulwattana, In So Kweon
The 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015 / 10
453. Line Assisted Vision Applications in Structured Environments
Kyungdon Joo, Tae-Hyun Oh, In So Kweon
The 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015 / 10
452. Fused robot pose estimation using embedded and external camera
Kibaek Park, Hyowon Ha, Francois Rameau, In So Kweon
The 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015 / 10
451. Low-Cost Synchronization for Multispectral Cameras
Soonmin Hwang, Yukyung Choi, Namil Kim, Kibaek Park, Jae Shin Yoon, In So Kweon
The 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015 / 10
450. Geometrical Calibration of Multispectral Calibration
Namil Kim, Yukyung Choi, Soonmin Hwang, Kibaek Park, Jae Shin Yoon, In So Kweon
The 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015 / 10
449. An Approach for Local Feature Evaluation
Yukyung Choi, In So Kweon
The 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015 / 10
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