Hae Min Cho

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Recently, RGB-D camera has been used widely in indoor SLAM (Simultaneous Localization and Mapping) field. In this paper, we propose an efficient 3D mapping algorithm that considers appearance of dynamic objects. A full 3D mapping system estimates 6-DoF sensor pose and builds 3D voxel grid map simultaneously. In order to build a 3D map, effective method is(More)
Various three-dimensional environment representation techniques exist depending on the type of sensor, and the level of expression varies depending on the characteristics of the sensor. Our sensor system is composed of a three-dimensional lasers scanner and a stereo camera. A rigid transformation matrix representing a three-dimensional relative pose is(More)
Pose estimation and 3D reconstruction of environment are essential technics in robotics and computer vision. In this paper we present a method for camera tracking and 3D reconstruction of static environments, using a ToF sensor which provides less reliable depth information. Based on a primary camera pose, we eliminate outlier in distance measurements.(More)
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