In Spring 2015, I joined LARR (former ICSL) in Seoul National University to pursue research in Robotics. I am currently working with Pyojin Kim, Changhyeon Kim, Haram Kim, and Youngseok Jang.

My research interests in robotics are 3D Vision (Robust Visual Odometry in Dynamic Environments [1, 2] and Applications for Event Camera [3]) and 2D Vision [4].

Publications

Real-time Object-aware Monocular Depth Estimation in Onboard Systems

Abstract: This paper proposes the object depth estimation in real-time, using only a monocular camera in an onboard computer with a low-cost GPU. Our algorithm estimates scene depth from a sparse feature-based visual odometry algorithm and detects/tracks objects’ bounding box by utilizing the exi...

Edge Detection for Event Cameras using Intra-pixel-area Events

Abstract: In this work, we propose an edge detection algorithm by estimating a lifetime of an event produced from dynamic vision sensor, also known as event camera. The event camera, unlike traditional CMOS camera, generates sparse event data at a pixel whose log-intensity changes. D...

Real-time Rigid Motion Segmentation using Grid-based Optical Flow

Abstract: In the paper, we propose a rigid motion segmentation algorithm with the grid-based optical flow. The algorithm selects several adjacent points among grid-based optical flows to estimate motion hypothesis based on a so-called entropy and generates motion hypotheses between two images, th...

Survey on Visual Odometry Technology for Unmanned Systems

Abstract: This paper surveys visual odometry technology for unmanned systems. Visual odometry is one of the most important technologies to implement vision-based navigation; therefore, it is widely applied to unmanned systems in recent years. Visual odometry estimates a trajectory and a pose of t...

Exposure Correction and Image Blending for Planar Panorama Stitching

Abstract: In this paper, we propose a planar panorama stitching method to blend consecutive images captured by a multirotor equipped with a fish-eye camera. In addition, we suggest an exposure correction method to reduce the brightness difference between contiguous images, and a drift error corre...