Publications

@conference{9659458,

title = {RPV-SLAM: Range-augmented Panoramic Visual SLAM for Mobile Mapping System with Panoramic Camera and Tilted LiDAR},

author = {Jungwon Kang and Yujia Zhang and Zhen Liu and Andrew Sit and Gunho Sohn},

doi = {10.1109/ICAR53236.2021.9659458},

year  = {2021},

date = {2021-12-01},

urldate = {2021-12-01},

booktitle = {2021 20th International Conference on Advanced Robotics (ICAR)},

pages = {1066-1072},

abstract = {A LiDAR-assisted panoramic visual simultaneous localization and mapping (SLAM) system for a mobile mapping system (MMS) is presented in this paper. The feasibility research on the SLAM for MMS with a panoramic camera and a tilted LiDAR without GPS/IMU sparked our interest. Because of the significant disparity in spatial sensing coverage, we show that employing a panoramic camera as a primary sensor for SLAM is more suitable than using a tilted LiDAR in this particular sensor combination. Existing panoramic visual SLAM systems, on the other hand, produce up-to-scale results, making them inappropriate for many applications that require metrically-scaled results. We develop a panoramic visual SLAM system that uses LiDAR points to generate metrically-scaled outputs to address this constraint. First, the suggested SLAM system augments visual features with ranges generated from LiDAR points. Following that, the visual features are fed into the SLAM pipeline, which performs tracking, local mapping, and loop closing. Finally, the scale information in the ranges augmented to visual features is integrated into the SLAM pipeline via the production of metrically-scaled map points, eventually leading to metrically-scaled SLAM results. Extensive testing in challenging outdoor conditions has proven the effectiveness and robustness of the proposed SLAM system.},

keywords = {},

pubstate = {published},

tppubtype = {conference}

}

@conference{9341439,

title = {Ultra-Wideband Aided UAV Positioning Using Incremental Smoothing with Ranges and Multilateration},

author = {Jungwon Kang and Kunwoo Park and Zahra Arjmandi and Gunho Sohn and Mozhdeh Shahbazi and Patrick Ménard},

doi = {10.1109/IROS45743.2020.9341439},

issn = {2153-0866},

year  = {2020},

date = {2020-10-01},

urldate = {2020-10-01},

booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {4529-4536},

abstract = {In this paper, we present a novel smoothing approach for ultra-wideband (UWB) aided unmanned aerial vehicle (UAV) positioning. Existing works based on smoothing or filtering estimate 3D position of UAV by updating a solution for each single 1D low-dimensional UWB range measurement. However, a low-dimensional single range measurement merely acts as a weak constraint in a solution space for UAV position estimation, and thus it can often lead to incorrect estimation in unfavorable conditions. Inspired by the idea that the multilateration outcome can be utilized as a measurement providing a strong constraint, we utilize two types of UWB-based measurements: (i) each single 1D range as a high-rate measurement with a weak constraint, and (ii) multilateration outcome as a low-rate measurement with a strong constraint. We propose an incremental smoothing-based method that seamlessly integrates these two types of UWB-based measurements and inertial measurement into a unified factor graph framework. Through experiments under a variety of scenarios, we demonstrate the effectiveness of the proposed method.},

keywords = {},

pubstate = {published},

tppubtype = {conference}

}

@conference{9294440,

title = {Benchmark Dataset of Ultra-Wideband Radio Based UAV Positioning},

author = {Zahra Arjmandi and Jungwon Kang and Kunwoo Park and Gunho Sohn},

doi = {10.1109/ITSC45102.2020.9294440},

year  = {2020},

date = {2020-09-01},

urldate = {2020-09-01},

booktitle = {2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)},

pages = {1-8},

abstract = {Precise positioning of the Unmanned Aerial Vehicle (UAV) is critical to conduct many sophisticated civil and military applications in challenging environments. Many of the-state-of-the-art positioning methods rely on active range sensors. Among many available ranging sensors, Ultra-wideband (UWB) can provide many benefits such as high precision, power efficiency, and not prone to multipath propagation and noise. Thus, the UWB has recently been attracting many interests from the research community as a complementary positioning sensor. However, there is a significant lack of UWB benchmark data available to support developing, testing and generalizing their own positioning methods using UWB sensors. In this paper, we present a unique benchmark dataset that provides UWB and IMU signals acquired by a Q-Drone system in a diverse environment, including an indoor, open field, close to buildings, underneath the bridge, and semi-open tunnel, as shown in Fig.1. This benchmark also provides ground truth of UAV positions independently measured with robotic total stations. In this paper, we present the characteristics of the UWB benchmark dataset, Q-Drone UAV platform and the results of the quality assessment conducted by a baseline positioning algorithm implemented with multilateration principal and non-linear optimization.},

keywords = {},

pubstate = {published},

tppubtype = {conference}

}

@conference{article_51,

title = {Multilateration Under Flip Ambiguity for UAV Positioning Using Ultrawide-band},

author = {Kunwoo Park and Jungwon Kang and Zahra Arjmandi and Mozhdeh Shahbazi and Gunho Sohn},

doi = {10.5194/isprs-annals-V-1-2020-317-2020},

year  = {2020},

date = {2020-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {V-1-2020},

pages = {317-323},

keywords = {Flip Ambiguity, Multilateration, Positioning, Ultrawide-band, Unmanned Aerial Vehicle},

pubstate = {published},

tppubtype = {conference}

}

@conference{article_52,

title = {Boundary Regularized Building Footprint Extraction From Satellite Images Using Deep Neural Networks},

author = {Kang Zhao and Muhammad Kamran and Gunho Sohn},

doi = {10.5194/isprs-annals-V-2-2020-617-2020},

year  = {2020},

date = {2020-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {V-2-2020},

pages = {617-624},

keywords = {GCN, Geometric Learning, Instance Segmentation, Neural Networks, Satellite Imagery, Shape Regularization},

pubstate = {published},

tppubtype = {conference}

}

@conference{article_53,

title = {Wi-Fi RSS Fingerprinting for Indoor Localization Using Augmented Reality},

author = {Afnan Ahmad and Pio Claudio and A Naeini and Gunho Sohn},

doi = {10.5194/isprs-annals-V-4-2020-57-2020},

year  = {2020},

date = {2020-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {V-4-2020},

pages = {57-64},

keywords = {Augmented Reality, Fingerprinting, HoloLens, Indoor Localization, RSS},

pubstate = {published},

tppubtype = {conference}

}

@conference{article_54,

title = {Participatory Image-based Models’ Alignment for Reconstructing a Large-scale Indoor Mapping},

author = {Ali Baligh Jahromi and Gunho Sohn and Jaewook Jung and K Park and D Recchia},

doi = {10.5194/isprs-annals-V-4-2020-71-2020},

year  = {2020},

date = {2020-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {V-4-2020},

pages = {71-78},

keywords = {3D Model Reconstruction, Crowd Source Modeling, Model Alignment, Model Transformation, Topology Graph},

pubstate = {published},

tppubtype = {conference}

}

@conference{article_55,

title = {Simulation-based Data Augmentation Using Physical Priors for Noise Filtering Deep Neural Network},

author = {Maryam Jameela and Leihan Chen and A Sit and J Yoo and C Verheggen and Gunho Sohn},

doi = {10.5194/isprs-archives-XLIII-B2-2020-247-2020},

year  = {2020},

date = {2020-01-01},

journal = {ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {XLIII-B2-2020},

pages = {247-254},

keywords = {3D Representation, Airborne LiDAR, Data Augmentation, Mobile Mapping System, Noise Filtering, Remote Sensing, Systematic Noise},

pubstate = {published},

tppubtype = {conference}

}

@conference{article_56,

title = {Automatic Ontology Generation of BIM and GIS Data},

author = {Aman U Usmani and Mojgan A. Jadidi and Gunho Sohn},

doi = {10.5194/isprs-archives-XLIII-B4-2020-77-2020},

year  = {2020},

date = {2020-01-01},

journal = {ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {XLIII-B4-2020},

pages = {77-80},

keywords = {BIM, FCA, GIS, Ontology, OWL, Semantic Web, Transformation Patterns, XSD},

pubstate = {published},

tppubtype = {conference}

}

@conference{article_57,

title = {An Unsupervised Registration of 3D Point Clouds to 2D CAD Model: a Case Study of Floor Plan},

author = {A Naeini and Afnan Ahmad and Mohammad Moein Sheikholeslami and Pio Claudio and Gunho Sohn},

doi = {10.5194/isprs-annals-V-2-2020-9-2020},

year  = {2020},

date = {2020-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {V-2-2020},

pages = {9-13},

keywords = {2D CAD models, 3D point clouds, affine transformation, floor plan, unsupervised registration},

pubstate = {published},

tppubtype = {conference}

}

@conference{Yang2019,

title = {Public transit service reliability assessment using GPS data},

author = {Seungho Yang and Afnan Ahmad and Peter Y Park and Gunho Sohn},

editor = {54th Annual Canadian Transportation Research Forum},

year  = {2019},

date = {2019-05-26},

keywords = {public transit, reliability},

pubstate = {published},

tppubtype = {conference}

}

@conference{isprs-annals-IV-4-89-2018,

title = {A Semantic Graph Database for BIM-GIS Integrated Information Model for an Intelligent Urban Mobility Web Application},

author = {Hadi Al-Hor and Gunho Sohn and Pio Claudio and Mojgan A. Jadidi and Afnan Ahmad},

url = {https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-4/89/2018/},

doi = {10.5194/isprs-annals-IV-4-89-2018},

year  = {2018},

date = {2018-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {IV-4},

pages = {89--96},

keywords = {BIM, CityGML, database, GIS, graph, IFC, model, Neo4j, Property, SPARQL, Web GIS Services},

pubstate = {published},

tppubtype = {conference}

}

@conference{2018ISPAn.IV2..153K,

title = {Deep Multi-Task Learning for Tree Genera Classification},

author = {Connie Ko and Jungwon Kang and Gunho Sohn},

doi = {10.5194/isprs-annals-IV-2-153-2018},

year  = {2018},

date = {2018-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {IV2},

pages = {153-159},

keywords = {deep neural network, lidar, multi-task learning, multiple-view data generation, tree classification},

pubstate = {published},

tppubtype = {conference}

}

@conference{article,

title = {Layout Slam With Model Based Loop Closure for 3D Indoor Corridor Reconstruction},

author = {Ali Baligh Jahromi and Gunho Sohn and Jaewook Jung and Mozhdeh Shahbazi and Jungwon Kang},

doi = {10.5194/isprs-annals-IV-2-25-2018},

year  = {2018},

date = {2018-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {IV-2},

pages = {25-32},

keywords = {3D Indoor Reconstruction, Extended Kalman Filter, Layout Estimation, Loop Closure, Model-based Matching, SLAM},

pubstate = {published},

tppubtype = {conference}

}

@conference{isprs-archives-XLII-4-253-2018,

title = {Indoor Positioning Using WLAN Fingerprint Matching and Path Assessment with Retroactive Adjustment on Mobile Devices},

author = {Eros Gulo and Gunho Sohn and Afnan Ahmad},

url = {https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLII-4/253/2018/},

doi = {10.5194/isprs-archives-XLII-4-253-2018},

year  = {2018},

date = {2018-01-01},

journal = {ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {XLII-4},

pages = {253--260},

keywords = {Fingerprint, Indoor Positioning, Location, Path Assessment, WLAN localization},

pubstate = {published},

tppubtype = {conference}

}

@conference{articleb,

title = {BIM-GIS Oriented Intelligent Knowledge Discovery},

author = {H Kiavarz and Mojgan A. Jadidi and A Rajabifard and Gunho Sohn},

doi = {10.5194/isprs-archives-XLII-4-W10-79-2018},

year  = {2018},

date = {2018-01-01},

journal = {ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {XLII-4/W10},

pages = {79-82},

keywords = {BIM, Fuzzy Reasoning, GIS, Knowledge discovery, Rules Extraction, Smart City},

pubstate = {published},

tppubtype = {conference}

}

@conference{articleg,

title = {Semantic Segmentation of Indoor Point Clouds using Convolutional Neural Network},

author = {Kivanc Babacan and Leihan Chen and Gunho Sohn},

doi = {10.5194/isprs-annals-IV-4-W4-101-2017},

year  = {2017},

date = {2017-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {IV-4/W4},

pages = {101-108},

keywords = {Convolutional Neural Network, Deep Learning, Indoor Modelling, Mobile Laser, Point Cloud, Semantic Segmentation},

pubstate = {published},

tppubtype = {conference}

}

@conference{articleh,

title = {A Preliminary Work on Layout SLAM for Reconstruction of Indoor Corridor Environments},

author = {Ali Baligh Jahromi and Gunho Sohn and Mozhdeh Shahbazi and Jungwon Kang},

doi = {10.5194/isprs-annals-IV-2-W4-295-2017},

year  = {2017},

date = {2017-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {IV-2/W4},

pages = {295-302},

keywords = {Gaussian Sphere, Matching, ndoor Layout Reconstruction, Point Feature, Visual SLAM},

pubstate = {published},

tppubtype = {conference}

}

@conference{Shahbazi2016REVISITINGIC,

title = {Revisiting Intrinsic Curves for Efficient Dense Stereo Matching},

author = {Mozhdeh Shahbazi and Gunho Sohn and Jérôme Théau and Patrick Ménard},

year  = {2016},

date = {2016-01-01},

journal = {ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences},

pages = {123-130},

keywords = {Energy, Intrinsic curves, Matching, Occlusion, Optimization, Search Space Reduction},

pubstate = {published},

tppubtype = {conference}

}

@conference{articlek,

title = {Matching Aerial Images to 3D Building Models Based on Context-based Geometric Hashing},

author = {Jaewook Jung and Ki In Bang and Gunho Sohn and Costas Armenakis},

doi = {10.5194/isprsannals-III-1-17-2016},

year  = {2016},

date = {2016-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {III-1},

pages = {17-23},

keywords = {3D Building Models, Aerial Imagery, Geometric Hashing, Model to Image Matching, Registration},

pubstate = {published},

tppubtype = {conference}

}

@conference{Jwa2015KALMANFB,

title = {Kalman Filter Based Railway Tracking From Mobile LiDAR Data},

author = {Yoonseok Jwa and Gunho Sohn},

url = {https://doi.org/10.5194/isprsannals-II-3-W5-159-2015},

year  = {2015},

date = {2015-01-01},

journal = {ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences},

pages = {159-164},

keywords = {Bayesian Decision, Kalman Filtering, Mobile LiDAR Data, Railway Track Modeling},

pubstate = {published},

tppubtype = {conference}

}

@conference{articlep,

title = {Edge Based 3D Indoor Corridor Modeling using a Single Image},

author = {Ali Baligh Jahromi and Gunho Sohn},

doi = {10.5194/isprsannals-II-3-W5-417-2015},

year  = {2015},

date = {2015-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {II-3/W5},

pages = {417-424},

keywords = {Geometric Reasoning, Hypothesis verification, Hypothesis-verification, Indoor Model Reconstruction, Scene Layout Parameterization},

pubstate = {published},

tppubtype = {conference}

}

@conference{articleq,

title = {Integration of Building Knowledge Into Binary Space Partitioning for the Reconstruction of Regularized Building Models},

author = {Andreas Wichmann and Jaewook Jung and Gunho Sohn and Martin Kada and Manfred Ehlers},

doi = {10.5194/isprsannals-II-3-W5-541-2015},

year  = {2015},

date = {2015-01-01},

journal = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},

volume = {II-3/W5},

pages = {541-548},

keywords = {3D point clouds, Buildings, Knowledge Base, Reconstruction, Regularization, Three-dimensional},

pubstate = {published},

tppubtype = {conference}

}