{"id":32,"date":"2020-02-01T01:08:11","date_gmt":"2020-02-01T06:08:11","guid":{"rendered":"http:\/\/woosik.synology.me\/wordpress\/?page_id=32"},"modified":"2023-08-21T11:28:09","modified_gmt":"2023-08-21T15:28:09","slug":"about","status":"publish","type":"page","link":"https:\/\/woosik.synology.me\/wordpress\/","title":{"rendered":"About"},"content":{"rendered":"<p><strong><img decoding=\"async\" loading=\"lazy\" class=\"size-medium wp-image-256 alignleft\" src=\"https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2021\/11\/1635474992003-300x300.jpeg\" alt=\"\" width=\"300\" height=\"300\" srcset=\"https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2021\/11\/1635474992003-300x300.jpeg 300w, https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2021\/11\/1635474992003-150x150.jpeg 150w, https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2021\/11\/1635474992003-768x768.jpeg 768w, https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2021\/11\/1635474992003.jpeg 800w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/strong>My name is Woosik Lee, and I am a Ph.D. candidate at the Department of Mechanical Engineering at University of Delaware. I am interested in the areas of sensors, robotics, and computer applications. Under the direction of <a href=\"http:\/\/udel.edu\/~ghuang\/\">Guoquan Huang<\/a>, I am exploring the area of simultaneous localization and mapping (SLAM), visual-inertial navigation systems (VINS), and multi-sensor systems.<\/p>\n<p><a href=\"mailto:woosik@udel.edu\">Email<\/a> \/ <a href=\"https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2021\/12\/WoosikLee_CV.pdf\">CV<\/a> \/ <a href=\"https:\/\/scholar.google.co.kr\/citations?user=REhf7HEAAAAJ\">Google Scholar <\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<table>\n<tbody>\n<tr>\n<td style=\"width: 560px;\"><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"https:\/\/www.youtube.com\/embed\/rV50nLJ6Mt0\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\" data-mce-fragment=\"1\"><\/iframe><\/td>\n<td>\n<h3>MINS: Efficient Multi-sensor Aided Inertial Navigation with Online Calibration<\/h3>\n<p style=\"font-size: 13px;\">International Conference on Robotics and Automation (ICRA), 2021<\/p>\n<p>Versatile multi-sensor aided inertial navigation system (MINS) that can efficiently fuse multi-modal measurements of IMU, camera, wheel encoder, GPS, and 3D LiDAR along with online spatiotemporal sensor calibration. Plane patch-based efficient LiDAR point cloud information abstraction and data association.<\/p>\n<p><span class=\"style-scope yt-formatted-string\" dir=\"auto\">Publication reference &#8211; <span style=\"color: #ffcc00;\"><a style=\"color: #ffcc00;\" href=\"https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2021\/05\/2021_icra_lidar__accepted_-4.pdf\">Paper<\/a><\/span><br \/>\n<\/span><\/td>\n<\/tr>\n<tr>\n<td style=\"width: 560px;\"><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"https:\/\/www.youtube.com\/embed\/sxq75Cgeb48\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\" data-mce-fragment=\"1\"><\/iframe><\/td>\n<td>\n<h3>Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization<\/h3>\n<p style=\"font-size: 13px;\">International Conference on Intelligent Robots and Systems (IROS), 2020<\/p>\n<p>Lightweight and robust localization solution for low-cost, low-power autonomous robot platforms. Two-stage localization system which incorporates both offline prior map building and online multi-modal localization.<\/p>\n<p><span class=\"style-scope yt-formatted-string\" dir=\"auto\">Publication reference &#8211; <span style=\"color: #ffcc00;\"><a style=\"color: #ffcc00;\" href=\"https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2021\/06\/1877.pdf\">Paper<\/a><\/span>, <\/span><\/td>\n<\/tr>\n<tr>\n<td style=\"width: 560px;\"><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"https:\/\/www.youtube.com\/embed\/4DH-J5OtjLc\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\" data-mce-fragment=\"1\"><\/iframe><\/td>\n<td>\n<h3>VIWO: Visual-inertial-wheel odometry with online calibration<\/h3>\n<p style=\"font-size: 13px;\">International Conference on Intelligent Robots and Systems (IROS), 2020<\/p>\n<p>A novel visual-inertial-wheel odometry (VIWO) system for ground vehicles, which efficiently fuses multi-modal visual, inertial, and 2D wheel odometry measurements in a sliding-window filtering fashion. Perform VIWO along with online sensor calibration of wheel encoders&#8217; intrinsic and extrinsic parameters.<\/p>\n<p><span class=\"style-scope yt-formatted-string\" dir=\"auto\">Publication reference &#8211; <span style=\"color: #ffcc00;\"><a style=\"color: #ffcc00;\" href=\"https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2020\/08\/2020_iros_wheel__final_.pdf\">Paper<\/a><\/span>, <span style=\"color: #ffcc00;\"><a style=\"color: #ffcc00;\" href=\"https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2021\/06\/tr_wheel-vio.pdf\">Tech report<\/a><\/span><\/span><\/td>\n<\/tr>\n<tr>\n<td style=\"width: 560px;\"><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"https:\/\/www.youtube.com\/embed\/-nZPq7p7ykY\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\" data-mce-fragment=\"1\"><\/iframe><\/td>\n<td>\n<h3>Intermittent GPS-aided VIO with Online Calibration and Initialization<\/h3>\n<p style=\"font-size: 13px;\">International Conference on Robotics and Automation (ICRA), 2020<\/p>\n<p>IMU-camera data with intermittent GPS measurements fusion. Online calibration method for both the GPS-IMU extrinsics and time offset as well as a reference frame initialization procedure that is robust to GPS sensor noise.<\/p>\n<p><span class=\"style-scope yt-formatted-string\" dir=\"auto\">Publication reference &#8211; <span style=\"color: #ffcc00;\"><a style=\"color: #ffcc00;\" href=\"https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2020\/05\/2020_icra_gpsinit__final_.pdf\">Paper<\/a><\/span>, <span style=\"color: #ffcc00;\"><a style=\"color: #ffcc00;\" href=\"https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2021\/06\/rpng_tr_2019_gps.pdf\">Tech report<\/a><\/span><\/span><\/td>\n<\/tr>\n<tr>\n<td style=\"width: 560px;\"><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"https:\/\/www.youtube.com\/embed\/187AXuuGNNw\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\" data-mce-fragment=\"1\"><\/iframe><\/td>\n<td>\n<h3>OpenVINS<\/h3>\n<p style=\"font-size: 13px;\">International Conference on Robotics and Automation (ICRA), 2020<\/p>\n<p>An open platform, termed OpenVINS, for visual-inertial estimation research for both the academic community and practitioners from industry. This codebase has out of the box support for commonly desired visual-inertial estimation features, which include: (i) on-manifold sliding window Kalman filter, (ii) online camera intrinsic and extrinsic calibration, (iii) camera to inertial sensor time offset calibration, (iv) SLAM landmarks with different representations and consistent First-Estimates Jacobian (FEJ) treatments, (v) modular type system for state management, (vi) extendable visual-inertial system simulator, and (vii) extensive toolbox for algorithm evaluation.<br \/>\n<span class=\"style-scope yt-formatted-string\" dir=\"auto\">Publication reference &#8211; <span style=\"color: #ffcc00;\"><a style=\"color: #ffcc00;\" href=\"https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2020\/05\/open_vins_iros.pdf\">Paper<\/a><\/span>, <span style=\"color: #ffcc00;\"><a style=\"color: #ffcc00;\" href=\"https:\/\/github.com\/rpng\/open_vins\">GitHub<\/a><\/span><\/span><\/td>\n<\/tr>\n<tr>\n<td style=\"width: 560px;\"><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"https:\/\/www.youtube.com\/embed\/z8WG4miBk3s\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\" data-mce-fragment=\"1\"><\/iframe><\/td>\n<td>\n<h3>LIC-Fusion: LiDAR-Inertial-Visual Odometry<\/h3>\n<p style=\"font-size: 13px;\">International Conference on Intelligent Robots and Systems (IROS), 2019<\/p>\n<p>Tightly-coupled multi-sensor fusion algorithm of LiDAR-inertial-camera (LIC) odometry. Perform online spatial and temporal sensor calibration between all three sensors. Track sparse edge\/surf feature points over LiDAR scans and then fuse their measurements along with the visual feature observations in the efficient MSCKF framework.<\/p>\n<p><span class=\"style-scope yt-formatted-string\" dir=\"auto\">Publication reference &#8211; <span style=\"color: #ffcc00;\"><a style=\"color: #ffcc00;\" href=\"https:\/\/woosik.synology.me\/wordpress\/wp-content\/uploads\/2021\/06\/zuo2019.pdf\">Paper<\/a><\/span><\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n<div id=\"__endic_crx__\">\n<h5 class=\"css-diqpy0\"><\/h5>\n<\/div>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n<div id=\"__endic_crx__\">\n<div class=\"css-diqpy0\"><\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>My name is Woosik Lee, and I am a Ph.D. candidate at the Department of Mechanical Engineering at University of Delaware. I am interested in the areas of sensors, robotics, and computer applications. Under the direction of Guoquan Huang, I am exploring the area of simultaneous localization and mapping (SLAM), visual-inertial navigation systems (VINS), and &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/woosik.synology.me\/wordpress\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;About&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"https:\/\/woosik.synology.me\/wordpress\/wp-json\/wp\/v2\/pages\/32"}],"collection":[{"href":"https:\/\/woosik.synology.me\/wordpress\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/woosik.synology.me\/wordpress\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/woosik.synology.me\/wordpress\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/woosik.synology.me\/wordpress\/wp-json\/wp\/v2\/comments?post=32"}],"version-history":[{"count":27,"href":"https:\/\/woosik.synology.me\/wordpress\/wp-json\/wp\/v2\/pages\/32\/revisions"}],"predecessor-version":[{"id":283,"href":"https:\/\/woosik.synology.me\/wordpress\/wp-json\/wp\/v2\/pages\/32\/revisions\/283"}],"wp:attachment":[{"href":"https:\/\/woosik.synology.me\/wordpress\/wp-json\/wp\/v2\/media?parent=32"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}