Search Results for author: H. Jin Kim

Found 14 papers, 4 papers with code

Unsupervised Reinforcement Learning for Transferable Manipulation Skill Discovery

no code implementations29 Apr 2022 Daesol Cho, Jigang Kim, H. Jin Kim

Current reinforcement learning (RL) in robotics often experiences difficulty in generalizing to new downstream tasks due to the innate task-specific training paradigm.

reinforcement-learning Unsupervised Reinforcement Learning

Automating Reinforcement Learning with Example-based Resets

1 code implementation5 Apr 2022 Jigang Kim, J. Hyeon Park, Daesol Cho, H. Jin Kim

Deep reinforcement learning has enabled robots to learn motor skills from environmental interactions with minimal to no prior knowledge.

Continuous Control reinforcement-learning

Learning a Domain-Agnostic Visual Representation for Autonomous Driving via Contrastive Loss

1 code implementation10 Mar 2021 Dongseok Shim, H. Jin Kim

Deep neural networks have been widely studied in autonomous driving applications such as semantic segmentation or depth estimation.

Autonomous Driving Contrastive Learning +3

Gaussian RAM: Lightweight Image Classification via Stochastic Retina-Inspired Glimpse and Reinforcement Learning

1 code implementation12 Nov 2020 Dongseok Shim, H. Jin Kim

Previous studies on image classification have mainly focused on the performance of the networks, not on real-time operation or model compression.

Classification General Classification +3

Learning a Geometric Representation for Data-Efficient Depth Estimation via Gradient Field and Contrastive Loss

1 code implementation6 Nov 2020 Dongseok Shim, H. Jin Kim

In this paper, we show that existing self-supervised methods do not perform well on depth estimation and propose a gradient-based self-supervised learning algorithm with momentum contrastive loss to help ConvNets extract the geometric information with unlabeled images.

Monocular Depth Estimation object-detection +2

Moving object detection for visual odometry in a dynamic environment based on occlusion accumulation

no code implementations18 Sep 2020 Haram Kim, Pyojin Kim, H. Jin Kim

The proposed algorithm allows to separate the moving object detection and visual odometry (VO) so that an arbitrary robust VO method can be employed in a dynamic situation with a combination of moving object detection, whereas other VO algorithms for a dynamic environment are inseparable.

Moving Object Detection object-detection +1

Pose Correction Algorithm for Relative Frames between Keyframes in SLAM

no code implementations18 Sep 2020 Youngseok Jang, Hojoon Shin, H. Jin Kim

With the dominance of keyframe-based SLAM in the field of robotics, the relative frame poses between keyframes have typically been sacrificed for a faster algorithm to achieve online applications.

Detection-Aware Trajectory Generation for a Drone Cinematographer

no code implementations3 Sep 2020 Boseong Felipe Jeon, Dongseok Shim, H. Jin Kim

The proposed method actively guides the motion of a cinematographer drone so that the color of a target is well-distinguished against the colors of the background in the view of the drone.

object-detection Object Detection

Integrated Motion Planner for Real-time Aerial Videography with a Drone in a Dense Environment

no code implementations21 Nov 2019 Boseong Jeon, H. Jin Kim

The proposed system includes 1) a target motion prediction module which can be applied to dense environments and 2) a hierarchical chasing planner based on a proposed metric for visibility.

Robotics

Robust Real-time RGB-D Visual Odometry in Dynamic Environments via Rigid Motion Model

no code implementations19 Jul 2019 Sangil Lee, Clark Youngdong Son, H. Jin Kim

Further, we use a dual-mode motion model to consistently distinguish between the static and dynamic parts in the temporal motion tracking stage.

Motion Segmentation Visual Odometry

Edge Detection for Event Cameras using Intra-pixel-area Events

no code implementations17 Jul 2019 Sangil Lee, Haram Kim, H. Jin Kim

In this work, we propose an edge detection algorithm by estimating a lifetime of an event produced from dynamic vision sensor (DVS), also known as event camera.

Robotics

Online Trajectory Generation of a MAV for Chasing a Moving Target in 3D Dense Environments

no code implementations6 Apr 2019 Boseong Felipe Jeon, H. Jin Kim

This work deals with a moving target chasing mission of an aerial vehicle equipped with a vision sensor in a cluttered environment.

Robotics

Linear RGB-D SLAM for Planar Environments

no code implementations ECCV 2018 Pyojin Kim, Brian Coltin, H. Jin Kim

We propose a new formulation for including orthogonal planar features as a global model into a linear SLAM approach based on sequential Bayesian filtering.

Indoor RGB-D Compass From a Single Line and Plane

no code implementations CVPR 2018 Pyojin Kim, Brian Coltin, H. Jin Kim

We propose a novel approach to estimate the three degrees of freedom (DoF) drift-free rotational motion of an RGB-D camera from only a single line and plane in the Manhattan world (MW).

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