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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Ayoung Kim

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3 papers indexed here

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Open access Oct 2026

RAGNAROK: Radar-Aided Gravity-Normalized Alignment for Robust Open Keyframe-Based Radar-Visual-Kinematic-Inertial SLAM

Legged robots offer superior mobility in unstructured environments, but reliable operation in such conditions requires robust state estimation. To address the vulnerability of proprioceptive estimators in rough terrain, recent methods have incorporated radar to provide velocity measurements. However, their limited yaw...

Hanjun Kim, Chiyun Noh, Sang-Woo Jung et al. · 0 citations
Open access Sep 2026

TRaIL-Odom: Tightly Coupled Continuous Time Radar-IMU-LiDAR Odometry With Adaptive Doppler Weighting

Existing radar-LiDAR fusion methods rely on fixed residual weights, even though the informativeness of radar Doppler and LiDAR geometry is scan- and direction-dependent, leading to uniform radar weighting that misallocates Doppler information across translational directions. To address this limitation, we propose two d...

Chiyun Noh, T. Tuna, William Talbot et al. · 0 citations
Jul 2026

RaDiVe: Robust 4D Radar Odometry with Distance-Bounded NDT and Velocity-Discrepancy Point Uncertainty

A velocity-discrepancy point uncertainty model is proposed that weights each input 4D radar point according to the discrepancy between its measured Doppler radial velocity and the radial velocity predicted from the estimated ego-velocity to improve accuracy and robustness of radar point-cloud registration.

Sangwoo Jung, Dongjae Lee, Chiyun Noh et al. · 0 citations

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