Kenji Koide

Ph.D. in Engineering

Project pages are provided only in Japanese.

Globally Consistent and Tightly Coupled 3D LiDAR Inertial Mapping, ICRA2022
Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors, IEEE RA-L, 2021
Interactive 3D Graph SLAM for Map Correction, IEEE RA-L, 2021

Exact Point Cloud Downsampling for Fast and Accurate Global Trajectory Optimization, IROS2023
Generalized LOAM: LiDAR Odometry Estimation with Trainable Local Geometric Features, IEEE RA-L, 2022
Voxelized GICP for Fast and Accurate 3D Point Cloud Registration, ICRA2021

General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox, ICRA2023
General Hand-eye Calibration Based on Reprojection Error Minimization, IEEE RA-L/ICRA2019, 2019
Single-shot Camera Intrinsic Calibration Toolbox

General Robot-Camera Synchronization based on Reprojection Error Minimization, ARS2019
Non-overlapping RGB-D Camera Network Calibration with Monocular Visual Odometry, IROS2020

Monocular Person Tracking and Identification with Online Deep Feature Selection for Person Following Robots, RAS, 2020
Identification of a Specific Person using Color, Height, and Gait Features for a Person Following Robot, RAS, 2016
Collision Risk Assessment via Awareness Estimation Toward Robotic Attendant, IROS2020

Person Identification Based on the Matching of Foot Strike Timings Obtained by LRFs and Smartphone, IROS2016

Non-overlapping RGB-D Camera Network Calibration with Monocular Visual Odometry, IROS2020
People Tracking and Re-Identification by Face Recognition for RGB-D Camera Networks, ECMR2017

Scalable Fiducial Tag Localization on a 3D Prior Map via Graph-Theoretic Global Tag-Map Registration, IROS2022
Splatoon AR, Digital Twin Flight
Iridescence

Fujimoto et al., Tightly Coupled LiDAR-IMU Odometry with Online Adaptation of a Learning-Based IMU Motion Model, IROS2026
Tabata et al., Image-To-Point Cloud Registration Made Easy with Rectified Flow-Based LiDAR Upsampling, IROS2026
Shimada et al., Tightly-Coupled Dynamic Object Tracking and RGB-D Inertial Odometry Estimation with Dual Quadrics, ICRA2026
Nakao et al., Range-based 6-DoF Monte Carlo SLAM with Gradient-guided Particle Filter on GPU, ICRA2025
Okawara et al., Tightly-Coupled LiDAR-IMU-Wheel Odometry with an Online Neural Kinematic Model Learning via Factor Graph Optimization, Robotics and Autonomous Systems, 2025