2023

Linear Four-Point LiDAR SLAM for Manhattan World Environments

Eunju Jeong, Jina Lee, Suyoung Kang, Pyojin Kim*
IEEE Robotics and Automation Letters (RA-L) 2023

Hong Kong World: Leveraging Structural Regularity for Line-based SLAM

Haoang Li, Ji Zhao, Jean-Charles Bazin, Pyojin Kim, Kyungdon Joo*, Zhenjun Zhao, Yun-Hui Liu*
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2023 PDF

Scale-Aware Visual-Inertial Depth Estimation and Odometry Using Monocular Self-Supervised Learning

Chungkeun Lee, Changhyeon Kim, Pyojin Kim, Hyeonbeom Lee, H. Jin Kim*
IEEE Access 2023 PDF

2022

A Benchmark Comparison of Four Off-the-Shelf Proprietary Visual-Inertial Odometry Systems

Pyojin Kim, Jungha Kim, Minkyeong Song, Yeoeun Lee, Moonkyeong Jung, Hyeong-Geun Kim*
MDPI Sensors 2022 PDF

Visual-Inertial Odometry Priors for Bundle-Adjusting Neural Radiance Fields

Hyunjin Kim, Minkyeong Song, Daekyeong Lee, Pyojin Kim*
IEEE International Conference on Control, Automation and Systems (ICCAS) 2022 PDF Poster

Parsing Indoor Manhattan Scenes Using Four-Point LiDAR on a Micro UAV

Eunju Jeong, Suyoung Kang, Daekyeong Lee, Pyojin Kim*
IEEE International Conference on Control, Automation and Systems (ICCAS) 2022 PDF Poster

Single User WiFi Structure from Motion in the Wild

Yiming Qian*, Hang Yan, Sachini Herath, Pyojin Kim, Yasutaka Furukawa
IEEE International Conference on Robotics and Automation (ICRA) 2022 PDF

Quasi-globally Optimal and Real-time Visual Compass in Manhattan Structured Environments

Pyojin Kim, Haoang Li, Kyungdon Joo*
IEEE Robotics and Automation Letters (RA-L, ICRA option) 2022 PDF Code

2021

A Comparison of Deep Learning-based Monocular Visual Odometry Algorithms

Eunju Jeong, Jaun Lee, Pyojin Kim*
Asia-Pacific International Symposium on Aerospace Technology (APISAT) 2021 PDF Poster

Linear RGB-D SLAM for Structured Environments

Kyungdon Joo, Pyojin Kim*, Martial Hebert, In So Kweon, H. Jin Kim
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2021 PDF

Learning Icosahedral Spherical Probability Map Based on Bingham Mixture Model for Vanishing Point Estimation

Haoang Li, Kai Chen, Kyungdon Joo*, Pyojin Kim, Kuk-Jin Yoon, Zhe Liu, Yun-Hui Liu*
IEEE/CVF International Conference on Computer Vision (ICCV) 2021 PDF

Learning to Identify Correct 2D-2D Line Correspondences on Sphere

Haoang Li, Kai Chen, Ji Zhao, Jiangliu Wang, Pyojin Kim*, Zhe Liu, Yun-Hui Liu*
IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2021 PDF

Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments

Sachini Herath*, Saghar Irandoust, Bowen Chen, Yiming Qian, Pyojin Kim, Yasutaka Furukawa
IEEE International Conference on Robotics and Automation (ICRA) 2021 PDF Code

2020

Globally Optimal and Efficient Vanishing Point Estimation in Atlanta World

Haoang Li, Pyojin Kim*, Ji Zhao, Kyungdon Joo, Zhipeng Cai, Zhe Liu, Yun-Hui Liu
European Conference on Computer Vision (ECCV) 2020 PDF Code

Moving Object Detection for Visual Odometry in a Dynamic Environment based on Occlusion Accumulation

Haram Kim, Pyojin Kim, H. Jin Kim*
IEEE International Conference on Robotics and Automation (ICRA) 2020 PDF Video

2019

Autonomous Flight with Robust Visual Odometry under Dynamic Lighting Conditions

Pyojin Kim, Hyeonbeom Lee, H. Jin Kim*
Autonomous Robots (AURO) 2019 PDF Video Code

Pyojin Kim’s PhD Thesis: Low-Drift Visual Odometry for Indoor Robotics

Pyojin Kim
SNU Department of Mechanical and Aerospace Engineering 2019 PDF

2018

Linear RGB-D SLAM for Planar Environments

Pyojin Kim, Brian Coltin, H. Jin Kim*
European Conference on Computer Vision (ECCV) 2018 PDF Video Code Poster

Visual Inertial Odometry with Pentafocal Geometric Constraints

Pyojin Kim, Hyon Lim, H. Jin Kim*
International Journal of Control, Automation and Systems (IJCAS) 2018 PDF Video

Edge-based Robust RGB-D Visual Odometry Using 2-D Edge Divergence Minimization

Changhyeon Kim, Pyojin Kim, Sangil Lee, H. Jin Kim*
IEEE International Conference on Intelligent Robots and Systems (IROS) 2018 PDF Video

Indoor RGB-D Compass from a Single Line and Plane

Pyojin Kim, Brian Coltin, H. Jin Kim*
IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2018 PDF Video Code Poster

Low-Drift Visual Odometry in Structured Environments by Decoupling Rotational and Translational Motion

Pyojin Kim, Brian Coltin, H. Jin Kim*
IEEE International Conference on Robotics and Automation (ICRA) 2018 PDF Video Code Poster

2017

Visual Odometry with Drift-Free Rotation Estimation Using Indoor Scene Regularities

Pyojin Kim, Brian Coltin, H. Jin Kim*
British Machine Vision Conference (BMVC) 2017 PDF Video Code Poster

Robust Visual Localization in Changing Lighting Conditions

Pyojin Kim, Brian Coltin, Oleg Alexandrov, H. Jin Kim*
IEEE International Conference on Robotics and Automation (ICRA) 2017 PDF Video Code Poster

2015

Robust Visual Odometry to Irregular Illumination Changes with RGB-D camera

Pyojin Kim, Hyon Lim, H. Jin Kim*
IEEE International Conference on Intelligent Robots and Systems (IROS) 2015 PDF Video Code Poster