Publications

2024

  1. 2024_ral_san.png
    San Francisco World: Leveraging Structural Regularities of Slope for 3-DoF Visual Compass
    Jungil Ham, Minji Kim, Suyoung Kang, Kyungdon Joo, Haoang Li, and Pyojin Kim*
    IEEE Robotics and Automation Letters (RA-L), 2024
    [Project Page] [Paper]
  2. 2024_tie_obstacle.png
    Obstacle Avoidance of a UAV Using Fast Monocular Depth Estimation for a Wide Stereo Camera
    Euihyeon Cho, Hyeongjin Kim, Pyojin Kim, and Hyeonbeom Lee*
    IEEE Transactions on Industrial Electronics (T-IE), 2024
    [Paper]
  3. 2024_ral_astrobee.png
    Astrobee ISS Free-Flyer Datasets for Space Intra-Vehicular Robot Navigation Research
    Suyoung Kang, Ryan Soussan, Daekyeong Lee, Brian Coltin, Andres Mora Vargas, Marina Moreira, Kathryn Hamilton, Ruben Garcia, Maria Bualat, Trey Smith, Jonathan Barlow, Jose Benavides, Eunju Jeong, and Pyojin Kim*
    IEEE Robotics and Automation Letters (RA-L), 2024
    [Project Page] [Paper]

2023

  1. 2023_ral_linear.png
    Linear Four-Point LiDAR SLAM for Manhattan World Environments
    Eunju Jeong, Jina Lee, Suyoung Kang, and Pyojin Kim*
    IEEE Robotics and Automation Letters (RA-L), 2023
    [Paper] [Poster]
  2. 2023_tits_scale.png
    Scale-Aware Monocular Visual Odometry and Extrinsic Calibration Using Vehicle Kinematics
    Changhyeon Kim, Youngseok Jang, Junha Kim, Pyojin Kim, and H Jin Kim*
    IEEE Transactions on Intelligent Transportation Systems (T-ITS), 2023
    [Paper]
  3. 2023_access_complex.png
    Complex-Motion NeRF: Joint Reconstruction and Pose Optimization With Motion and Depth Priors
    Hyunjin Kim, Daekyeong Lee, Suyoung Kang, and Pyojin Kim*
    IEEE Access, 2023
    [Paper]
  4. 2023_tpami_hong.png
    Hong Kong World: Leveraging Structural Regularity for Line-based SLAM
    Haoang Li, Ji Zhao, Jean-Charles Bazin, Pyojin Kim, Kyungdon Joo*, Zhenjun Zhao, and Yun-Hui Liu*
    IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2023
    [Project Page] [Paper]
  5. 2023_access_scale.png
    Scale-Aware Visual-Inertial Depth Estimation and Odometry Using Monocular Self-Supervised Learning
    Chungkeun Lee, Changhyeon Kim, Pyojin Kim, Hyeonbeom Lee, and H Jin Kim*
    IEEE Access, 2023
    [Paper]

2022

  1. 2022_sensors_benchmark.png
    A Benchmark Comparison of Four Off-the-Shelf Proprietary Visual-Inertial Odometry Systems
    Pyojin Kim, Jungha Kim, Minkyeong Song, Yeoeun Lee, Moonkyeong Jung, and Hyeong-Geun Kim*
    MDPI Sensors, 2022
    [Paper]
  2. 2022_iccas_visual.png
    Visual-Inertial Odometry Priors for Bundle-Adjusting Neural Radiance Fields
    Hyunjin Kim, Minkyeong Song, Daekyeong Lee, and Pyojin Kim*
    In IEEE International Conference on Control, Automation and Systems (ICCAS), 2022
    [Paper] [Poster]
  3. 2022_iccas_parsing.png
    Parsing Indoor Manhattan Scenes Using Four-Point LiDAR on a Micro UAV
    Eunju Jeong, Suyoung Kang, Daekyeong Lee, and Pyojin Kim*
    In IEEE International Conference on Control, Automation and Systems (ICCAS), 2022
    [Paper] [Poster]
  4. 2022_icra_single.png
    Single User WiFi Structure from Motion in the Wild
    Yiming Qian*, Hang Yan, Sachini Herath, Pyojin Kim, and Yasutaka Furukawa
    In IEEE International Conference on Robotics and Automation (ICRA), 2022
    [Paper]
  5. 2022_ral_quasi.png
    Quasi-globally Optimal and Real-time Visual Compass in Manhattan Structured Environments
    Pyojin Kim, Haoang Li, and Kyungdon Joo*
    IEEE Robotics and Automation Letters (RA-L), 2022
    [Paper] [Code]

2021

  1. 2021_apisat_comparison.png
    A Comparison of Deep Learning-based Monocular Visual Odometry Algorithms
    Eunju Jeong, Jaun Lee, and Pyojin Kim*
    In Asia-Pacific International Symposium on Aerospace Technology (APISAT), 2021
    [Paper] [Poster]
  2. 2021_tpami_linear.png
    Linear RGB-D SLAM for Structured Environments
    Kyungdon Joo, Pyojin Kim*, Martial Hebert, In So Kweon, and H Jin Kim
    IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2021
    [Paper]
  3. 2021_iccv_learning.png
    Learning Icosahedral Spherical Probability Map Based on Bingham Mixture Model for Vanishing Point Estimation
    Haoang Li, Kai Chen, Pyojin Kim, Kuk-Jin Yoon, Zhe Liu, Kyungdon Joo*, and Yun-Hui Liu*
    In IEEE/CVF International Conference on Computer Vision (ICCV), 2021
    [Paper]
  4. 2021_cvpr_learning.png
    Learning to Identify Correct 2D-2D Line Correspondences on Sphere
    Haoang Li, Kai Chen, Ji Zhao, Jiangliu Wang, Pyojin Kim*, Zhe Liu, and Yun-Hui Liu*
    In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021
    [Project Page] [Paper]
  5. 2021_icra_fusion.png
    Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments
    Sachini Herath*, Saghar Irandoust, Bowen Chen, Yiming Qian, Pyojin Kim, and Yasutaka Furukawa
    In IEEE International Conference on Robotics and Automation (ICRA), 2021
    [Paper] [Code]

2020

  1. 2020_eccv_globally.png
    Globally Optimal and Efficient Vanishing Point Estimation in Atlanta World
    Haoang Li, Pyojin Kim*, Ji Zhao, Kyungdon Joo, Zhipeng Cai, Zhe Liu, and Yun-Hui Liu
    In European Conference on Computer Vision (ECCV), 2020
    [Project Page] [Paper]
  2. 2020_icra_moving.png
    Moving Object Detection for Visual Odometry in a Dynamic Environment based on Occlusion Accumulation
    Haram Kim, Pyojin Kim, and H Jin Kim*
    In IEEE International Conference on Robotics and Automation (ICRA), 2020
    [Paper] [Video]

2014 – 2019

  1. 2019_auro_autonomous.png
    Autonomous Flight with Robust Visual Odometry under Dynamic Lighting Conditions
    Pyojin Kim, Hyeonbeom Lee, and H Jin Kim*
    Autonomous Robots (AURO), 2019
    [Paper] [Video] [Code]
  2. 2019_snu_low.png
    Pyojin Kim’s PhD Thesis: Low-Drift Visual Odometry for Indoor Robotics
    Pyojin Kim
    SNU Department of Mechanical and Aerospace Engineering, 2019
    [Website]
  1. 2018_eccv_linear.png
    Linear RGB-D SLAM for Planar Environments
    Pyojin Kim, Brian Coltin, and H Jin Kim*
    In European Conference on Computer Vision (ECCV), 2018
    [Paper] [Video] [Code] [Poster]
  2. 2018_ijcas_visual.png
    Visual Inertial Odometry with Pentafocal Geometric Constraints
    Pyojin Kim, Hyon Lim, and H Jin Kim*
    International Journal of Control, Automation and Systems (IJCAS), 2018
    [Paper] [Video]
  3. 2018_iros_edge.png
    Edge-based Robust RGB-D Visual Odometry Using 2-D Edge Divergence Minimization
    Changhyeon Kim, Pyojin Kim, Sangil Lee, and H Jin Kim*
    In IEEE International Conference on Intelligent Robots and Systems (IROS), 2018
    [Paper] [Video]
  4. 2018_cvpr_indoor.png
    Indoor RGB-D Compass from a Single Line and Plane
    Pyojin Kim, Brian Coltin, and H Jin Kim*
    In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018
    [Paper] [Video] [Code] [Poster]
  5. 2018_icra_low.png
    Low-Drift Visual Odometry in Structured Environments by Decoupling Rotational and Translational Motion
    Pyojin Kim, Brian Coltin, and H Jin Kim*
    In IEEE International Conference on Robotics and Automation (ICRA), 2018
    [Paper] [Video] [Code] [Poster]
  1. 2017_bmvc_visual.png
    Visual Odometry with Drift-Free Rotation Estimation Using Indoor Scene Regularities
    Pyojin Kim, Brian Coltin, and H Jin Kim*
    In British Machine Vision Conference (BMVC), 2017
    [Paper] [Video] [Code] [Poster]
  2. 2017_icra_robust.png
    Robust Visual Localization in Changing Lighting Conditions
    Pyojin Kim, Brian Coltin, Oleg Alexandrov, and H Jin Kim*
    In IEEE International Conference on Robotics and Automation (ICRA), 2017
    [Paper] [Video] [Code] [Poster]
    1. 2015_iros_robust.png
      Robust Visual Odometry to Irregular Illumination Changes with RGB-D Camera
      Pyojin Kim, Hyon Lim, and H Jin Kim*
      In IEEE International Conference on Intelligent Robots and Systems (IROS), 2015
      [Paper] [Video] [Code] [Poster]