Doo-Jin Kim

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A scan matching technique is a key technique to implement Cooperative-SLAM (C-SLAM). Although a variety of scan matching techniques have been developed, each of them has both merits and faults. This paper compares and analyzes three well-known scan matching techniques which are ICP (Iterative Closest Points), HSM (Hough Scan Matching), and PSM (Polar Scan(More)
This paper presents a survey of map merging techniques for cooperative-SLAM. The recently proposed map merging techniques are classified into two categories: direct map merging and indirect map merging. In each category, several techniques are briefly described. Then, their advantages and disadvantages are discussed in the context of accuracy and(More)
This paper proposes an adaptive and probabilistic extension of Rapidly-exploring Random Tree (RRT) for visual route navigation of a mobile robot. Using measurements from cameras and infrared range sensors, a temporary local map is built probabilistically with Gaussian processes and adaptively to the change of the route curvature. Based on the probabilistic(More)
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