Pyojin Kim

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Sensitivity to illumination conditions poses a challenge when utilizing visual odometry (VO) in various applications. To make VO robust with respect to illumination conditions, they need to be considered explicitly. In this paper, we propose a direct visual odometry method which can handle illumination changes by considering an affine illumination model to(More)
We present an illumination-robust visual localization algorithm for Astrobee, a free-flying robot designed to autonomously navigate on the International Space Station (ISS). Astrobee localizes with a monocular camera and a pre-built sparse map composed of natural visual features. Astrobee must perform tasks not only during the day, but also at night when(More)
This paper presents a fast RGB-D dense visual odometry estimating 12-DoF state information including 3D motion and 6-DoF spatial velocity of a camera-strapdown system. To reduce computational loads, we extract informative pixels through a zero-crossing difference of Gaussian (DoG) and non-maximum gradient pixel extraction. For extracted regions, the 3D(More)
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