Robotics and Computer Vision Lab

Publications

Extra Form
저 자 Yekeun Jeong, Yunsu Bok, Jun-sik Kim, In So Kweon
학 회 IEEE International Conference on Robotics and Automation (ICRA)
논문일시(Year) 2011
논문일시(Month) 05
In this paper, we present an accurate and robust 6D SLAM method that uses multiple 2D sensors, i.e. perspective cameras and planar laser scanners. We have investigated strengths and weaknesses of those two sensors for 6D SLAM by conducting specifically designed experiments, and found that the sensors can complement to each other. In order to take full advantages of each approach, we fuse correspondences of those two sensors, rather than individually estimated motions. Correspondences obtained by the two sensors have different characteristics, but can be expressed in common 2D-3D relation form. We use the correspondences in a single structure-frommotion framework. In the initial motion estimation step, we propose a RANSAC-based method to generate and test multiple motion hypotheses by using multiple pools of correspondences, aiming to avoid potential bias of each sensor data. In the later motion refinement step, we introduce a variant of bundle adjustment to consider different types of constraints from the two sensors. The performance of the proposed method is demonstrated both quantitatively by experiments on closed-loop sequences and qualitatively by large-scale experiments with DGPS trajectory. The proposed method successfully closes a loop of 320 meters in twenty thousand frames by incremental process only.

List of Articles
299. Graph-based Shape Matching for Deformable Objects
Hanbyul Joo, Yekeun Jeong, Olivier Duchenne, In So Kweon
IEEE Internetional Conference on Image Processing (ICIP) 2011 / 09
298. 2D/3D Virtual Face Modeling
Soonkee Chung, Jean-Charles Bazin, In So Kweon
IEEE Internetional Conference on Image Processing (ICIP) 2011 / 09
297. Utilizing Visual Information for Path Planning of Autonomous Mobile Robot
Doogyu Kim, Jayoung Kim, Jihong Lee, Hanbyul Joo, In So Kweon
Proceedings of the World Congress on Engineering and Computer Science 2009 2009 / 10
296. Intelligent Grasping by Learning from Observation
Seong-Young Ko, Hanbyul Joo, Dong-Geol Choi, Hyeongwoo Kim, In So Kweon
The 5th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2008) 2008 / 11
295. Radiometric Calibration by Transform Invariant Low-rank Structure
Joon-Young Lee, Boxin Shi, Yasuyuki Matsushita, In So Kweon, Katsushi Ikeuchi
IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2011 / 06
294. 이동 카메라에서의 물체 탐지
Minju Kim, Seong-Heum Kim, Yu-Wing Tai, In So Kweon
26th ICROS Annual Conference (학부생 포스터 세션) 2011 / 05
293. 로봇 응용을 위한 협력 및 결합 비전 시스템
Jean-Charles Bazin, Seong-Heum Kim, Dong-Geol Choi, Joon-Young Lee, In So Kweon
로봇공학회 논문지 2011 / 09
292. Two-phase Approach for Multi-view Object Extraction
Seong-Heum Kim, Yu-Wing Tai, Yunsu Bok, Hyeongwoo Kim, In So Kweon
IEEE International Conference on Image Processing (ICIP) 2011 / 09
291. 정확한 시선방향을 위한 카메라 내장 기법
Seong-Heum Kim, In So Kweon
2011년도 하계종합학술대회, 대한전자공학회 2011 / 06
290. 전방향 카메라의 All-focused 영상 생성
Dong-Gun Lee, Da-Hyun Jeon, Jean-Charles Bazin, In So Kweon
26th ICROS Annual Conference (학부생 포스터 세션) 2011 / 05
289. Hierarchical On-line Boosting based Background Subtraction
Yongcheol Lee, Jiyoung Jung, In So Kweon
17th Korea-Japan Joint Workshop on Frontiers of Computer Vision 2011 / 02
» Complementation of Cameras and Lasers for Accurate 6D SLAM: From Correspondences To Bundle Adjustment
Yekeun Jeong, Yunsu Bok, Jun-sik Kim, In So Kweon
IEEE International Conference on Robotics and Automation (ICRA) 2011 / 05
287. An Original Approach for Automatic Plane Extraction by Omnidirectional Vision
Jean-Charles Bazin, Pierre-Yves Laffont, In So Kweon, C. Demonceaux, P. Vasseur
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2010 / 10
286. Robust visual lock-on and simultaneous localization for an unmanned aerial vehicle
Jihong Min, Yekeun Jeong, In So Kweon
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems 2010(IROS2010) 2010 / 10
285. View-invariant Planar Object Detection for VisTRo
Jiyoung Jung, Yekeun Jeong, Joon-Young Lee, Hanbyul Joo, In So Kweon
The 7th International Conference on Ubiquitou s Robots and Ambient Intelligence (URAI) 2010 / 11
284. Probabilistic Localization Using Sensor Fusion
Seunghak Shin, Jungho Kim, Jihong Min, Jaesik Park, In So Kweon
The 7th International Conference on Ubiquitou s Robots and Ambient Intelligence (URAI 2010) 2010 / 11
283. Robust Detection of Small Objects in Cluttered Environment using Deptu Cue
Jaesik Park, Yekeun Jeong, Chaehoon Park, In So Kweon
The 7th International Conference on Ubiquitou s Robots and Ambient Intelligence (URAI 2010) 2010 / 11
282. Metric reconstruction of planes utilizing off-the-plane features
Jun-sik Kim, In So Kweon
Computer Vision and Image Understanding (CVIU) 2011 / 01
281. Capturing Village-level Heritages with a Hand-held Camera-Laser Fusion Sensor
Yunsu Bok, Yekeun Jeong, Dong-Geol Choi, In So Kweon
International Journal of Computer Vision (IJCV), vol. 94, no. 1, pp. 36-53 2011 / 08
280. Virtual Face Sculpting
Jean-Charles Bazin, Soonkee Chung, Roger Blanco Ribera, Quang Pham, In So Kweon
SIGGRAPH-poster 2010 / 07
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