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About Jon

ACRA2008

Recent Publications

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  • Euston, M., Coote, P., Mahony, R., Kim, J., and Hamel, T., “A Complementary Filter for
    Attitude Estimation of a Fixed-Wing UAV    ,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’08), Nice, France, Sept. 2008.
  • Abstract: This paper considers the question of using a nonlinear complementary filter for attitude estimation of fixed-wing unmanned aerial vehicle (UAV) given only measurements from a low-cost inertial measurement unit. Experimental results are provided on a real-world data set and the performance of the filter is evaluated against the output from a full GPS/INS that was available for the data set.

 

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  • Muffty F., R. Mahony, and Kim, J., “Super resolution of speed signs in video sequences,” Digital Image Computing: Techniques and Applications (DICTA) conference, Adelaide, Australia, Dec 5-7, 2007.
  • Abstract: This paper considers the problem of generating a high resolution (super resolved) image of an object that is visible in a sequence of low resolution video frames. The super resolved image is updated as a maximum likelihood estimate based on the new image registration parameters. Results obtained show excellent convergence, robustness and demonstrate quantitative improvement in image quality.
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  • Kim, J. and Brambley, G., “Dual Optic-flow Integrated Navigation for Small-scale Flying Robots,” Australasian Conference on Robotics and Automation (ACRA’07), Brisbane, Australia, Dec 10-12, 2007
  • Abstract: This paper addresses the recent development of real-time visual odometry system based on dual optical-flow systems and its integration to aided inertial navigation aiming for small-scale flying robots. To overcome the unknown depth information in optic-flows, a dual optic-flow sys tem is developed. The experimental results in indoor environment will be presented showing improved navigational performances constraining errors in height, velocity and attitude.
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  • Euston, M and Kim, J., “Rao-Blackwellised Inertial-SLAM with Partitioned Vehicle Subspace,” Australasian Conference on Robotics and Automation (ACRA’07), Brisbane, Australia, Dec 10-12, 2007
  • Abstracts: This paper presents methods which enable the Rao-Blackwellised (R-B) particle fltering technique to be applicable for the airborne simultaneous localisation and mapping problem. Simulation results will be presented with simulated flight data, showing reliable performances during loop-closures.

SLAM Tutorial Contributions

PhD Dissertation

  • Autonomous Navigation for Airborne Applications, Australian Centre for Field Robotics, The University of Sydney, 2004

    My PhD work was about "Autonomous navigation (or localisation)" which is the process of determining a platform’s pose without the use of any a priori information external to the platform except for what the platform senses about the environment. That is, the determination of the platform’s pose without the use of predefined maps or infrastructure developed for navigation purposes such as terrain aided navigation systems or Global Navigation Satellite System (GNSS). The objective of this thesis is to both develop and demonstrate autonomous localisation algorithms for airborne platforms. Read more here... [abstract][thesis.pdf (9M)][Bibtex].

Selected Book Chapters, Journals and Conferences

Note) If your institute subscribes the relavent journals, you can access journals by typing DOI (Digital Object Identification) number in www.dx.doi.org/ or through IEEExplore, However, I'll still provide some pre-print versions for your information.

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Journal Article (2007)

J. Kim and S. Sukkarieh. Real-time implementation of airborne inertial-SLAM, Robotics and Autonomous Systems, Issues 55, 62–71, 2007. (accessed via DOI) [pre-print.pdf]

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IEEE ICRA Conference (2006)

J. Kim and S. Sukkarieh. Robust Multi-loop Airborne SLAM. In IEEE International Conference on Robotics and Automation (ICRA'06), Orlando, Florida USA. (Accessed via IEEEXplore) [pre-print.pdf][digest.pdf]
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Book Chapter (2006)

Kim J., Sukkarieh S., and Wishart, S., “Real-Time Navigation, Guidance and Control of a UAV using Low-Cost Sensors,” Field and Service Robotics: Springer Tracts in Advanced Robotics, Yuta, S., Asama, H., Thrun, S., Prassler, E., Tsubouchi, T. (Eds.) , Vol 24, Springer, July 2006, DOI 10.1007/10991459_29. [pre-print.pdf]

Book Chapter (2005)

Kim J. and Sukkarieh S., “Recasting SLAM – Towards Improving Efficiency and Platform Independency”,
Springer Tracts in Advanced Robotics: In Robotics Researches, Springer, pp. 399 – 408 Aug 2005, ISBN: 3-540-23214-1. (Accessed by DOI)

Journal Article (2004)

Kim J., Ong S., Nettleton E. and Sukkarieh S. Decentralised Approach to unmanned aerial vehicle navigation: without the use of GPS and preloaded map. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, Professional Engineering Publishing, Vol. 218, Number 6, Pages 399-416, 2004. (Accessed by DOI) [pre-print.pdf]

Journal Article (2004)

Kim J. and Sukkarieh S. Autonomous Airborne Navigation in Unknown Terrain Environments. In IEEE Transactions on Aerospace and Electronic Systems, 40(3):1031-1045, July 2004. (Accessed by DOI)

Journal Article (2003)

Sukkarieh S., Nettleton E., Kim J., Ridley M., Goktogan A., and Durrant-Whyte H. The ANSER Project: Multi-UAV Data Fusion. In International Journal on Robotics Research, Vol 22, Isssue 7/8, 2003 [abstract][pdf][Bibtex].(Accessed by DOI)

Book Chapter (2003)

Göktoan A., Sukkarieh S., Iikyildiz G., Nettleton E., Ridley M., Kim J., Randle J and Wishart S., "The Real-Time Development and Deployment of a Cooperative Multi-UAV System," Lecture Notes in Computer Science, Springer Berlin / Heidelberg, Volume 2869, Page 576-583, 2003, DOI-10.1007/b14229 (Accessed via Springer)

Conference (2003)

Kim J. and Sukkarieh S. Airborne Simultaneous Localisation and Map Building. In IEEE International Conference on Robotics and Automation (ICRA'03), Taipei, Taiwan, 2003. (Cited by 15)

Conference (2003)

Kim J. and Sukkarieh S. A baro-altimeter augmented INS/GPS navigation system for an uninhabited aerial vehicle. In International Symposium on Satellite Navigation Technology (SATNAV), Melbourne, Australia, July 2003 [pre-print.pdf].

Conference (2003)

Kim J. and Sukkarieh S. and Wishart S. Real-time Navigation, Guidance and Control of a UAV using Low-cost Sensors. In International Conference of Field and Service Robotics (FSR'03), pages 95–100, Yamanashi, Japan, July 2003

Conference

Kim J. and Sukkarieh S. Flight Test Results of GPS/INS Navigation Loop for an Autonomous Unmanned Aerial Vehicle (UAV). In International Technical Meeting of the Satellite Division of the Institute of Navigation (ION'02), pages 510–517, Portland, OR, USA, September 2002 [pre-print.pdf] (cited by 5)

If you want see my full list of publications, check this [publications_kim.pdf]

 

Reviewed Papers

  • ICRA(07), FSR(05) Conference Papers
  • IEEE Transaction on Robotics and Automation (05), Neural Network(06) and PAMI(04)
  • Journal of Aerospace Science and Technology (04)
  • Journal of Measurement Science and Technology (04)
  • International Journal of Control, Automation and System (JCAS) (04)