Kenji Koide

63 papers A* 13A 7B 2C 2Journal 36Unranked 3
YearRankTypeTitle / Venue / Authors
2026 J jnl
D-SLAMSpoof: An Environment-Agnostic LiDAR Spoofing Attack using Dynamic Point Cloud Injection.
CoRR
Rokuto Nagata, Kenji Koide, Kazuma Ikeda, Ozora Sako, Kentaro Yoshioka
2026 J jnl
MirrorDrift: Actuated Mirror-Based Attacks on LiDAR SLAM.
CoRR
Rokuto Nagata, Kenji Koide, Kazuma Ikeda, Ozora Sako, Shion Horie, Kentaro Yoshioka
2025 A* conf
Non-Parametric GNSS Integer Ambiguity Estimation via Positional Likelihood Field Marginalization.
ICRA
Aoki Takanose, Kenji Koide, Shuji Oishi, Masashi Yokozuka
2025 A* conf
Range-Based 6-DoF Monte Carlo SLAM with Gradient-Guided Particle Filter on GPU.
ICRA
Takumi Nakao, Kenji Koide, Aoki Takanose, Shuji Oishi, Masashi Yokozuka, Hisashi Date
2025 J jnl
Range-based 6-DoF Monte Carlo SLAM with Gradient-guided Particle Filter on GPU.
CoRR
Takumi Nakao, Kenji Koide, Aoki Takanose, Shuji Oishi, Masashi Yokozuka, Hisashi Date
2025 J jnl
SLAMSpoof: Practical LiDAR Spoofing Attacks on Localization Systems Guided by Scan Matching Vulnerability Analysis.
CoRR
Rokuto Nagata, Kenji Koide, Yuki Hayakawa, Ryo Suzuki, Kazuma Ikeda, Ozora Sako, Qi Alfred Chen, Takami Sato, Kentaro Yoshioka
2025 A* conf
Slamspoof: Practical Lidar Spoofing Attacks on Localization Systems Guided by Scan Matching Vulnerability Analysis.
ICRA
Rokuto Nagata, Kenji Koide, Yuki Hayakawa, Ryo Suzuki, Kazuma Ikeda, Ozora Sako, Qi Alfred Chen, Takami Sato, Kentaro Yoshioka
2025 A* conf
Tightly Coupled Range Inertial Odometry and Mapping with Exact Point Cloud Downsampling.
ICRA
Kenji Koide, Aoki Takanose, Shuji Oishi, Masashi Yokozuka
2025 J jnl
Tightly Coupled Range Inertial Odometry and Mapping with Exact Point Cloud Downsampling.
CoRR
Kenji Koide, Aoki Takanose, Shuji Oishi, Masashi Yokozuka
2025 J jnl
Tightly-Coupled LiDAR-IMU-Leg Odometry With Online Learned Leg Kinematics Incorporating Foot Tactile Information.
IEEE Robotics Autom. Lett.
Taku Okawara, Kenji Koide, Aoki Takanose, Shuji Oishi, Masashi Yokozuka, Kentaro Uno, Kazuya Yoshida
2025 J jnl
Tightly-Coupled LiDAR-IMU-Leg Odometry with Online Learned Leg Kinematics Incorporating Foot Tactile Information.
CoRR
Taku Okawara, Kenji Koide, Aoki Takanose, Shuji Oishi, Masashi Yokozuka, Kentaro Uno, Kazuya Yoshida
2025 J jnl
Tightly-coupled LiDAR-IMU-wheel odometry with an online neural kinematic model learning via factor graph optimization.
Robotics Auton. Syst.
Taku Okawara, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno, Kentaro Uno, Kazuya Yoshida
2024 A* conf
3D-BBS: Global Localization for 3D Point Cloud Scan Matching Using Branch-and-Bound Algorithm.
ICRA
Koki Aoki, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno, Junichi Meguro
2024 J jnl
GLIM: 3D Range-Inertial Localization and Mapping with GPU-Accelerated Scan Matching Factors.
CoRR
Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2024 J jnl
GLIM: 3D range-inertial localization and mapping with GPU-accelerated scan matching factors.
Robotics Auton. Syst.
Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2024 A* conf
MegaParticles: Range-based 6-DoF Monte Carlo Localization with GPU-Accelerated Stein Particle Filter.
ICRA
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2024 J jnl
MegaParticles: Range-based 6-DoF Monte Carlo Localization with GPU-Accelerated Stein Particle Filter.
CoRR
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2024 J jnl
Single-shot global localization via graph-theoretic correspondence matching.
Adv. Robotics
Shigemichi Matsuzaki, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2024 A* conf
Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization.
ICRA
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2024 J jnl
Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization.
CoRR
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2024 J jnl
Tightly-Coupled LiDAR-IMU-Wheel Odometry With Online Calibration of a Kinematic Model for Skid-Steering Robots.
IEEE Access
Taku Okawara, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno, Kentaro Uno, Kazuya Yoshida
2024 J jnl
Tightly-Coupled LiDAR-IMU-Wheel Odometry with Online Calibration of a Kinematic Model for Skid-Steering Robots.
CoRR
Taku Okawara, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno, Kentaro Uno, Kazuya Yoshida
2024 J jnl
Tightly-Coupled LiDAR-IMU-Wheel Odometry with an Online Neural Kinematic Model Learning via Factor Graph Optimization.
CoRR
Taku Okawara, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno, Kentaro Uno, Kazuya Yoshida
2024 J jnl
small_gicp: Efficient and parallel algorithms for point cloud registration.
J. Open Source Softw.
Kenji Koide
2023 J jnl
3D-BBS: Global Localization for 3D Point Cloud Scan Matching Using Branch-and-Bound Algorithm.
CoRR
Koki Aoki, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno, Junichi Meguro
2023 A conf
Exact Point Cloud Downsampling for Fast and Accurate Global Trajectory Optimization.
IROS
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2023 J jnl
Exact Point Cloud Downsampling for Fast and Accurate Global Trajectory Optimization.
CoRR
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2023 A* conf
General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox.
ICRA
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2023 J jnl
General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox.
CoRR
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2023 A* conf
L-C*: Visual-inertial Loose Coupling for Resilient and Lightweight Direct Visual Localization.
ICRA
Shuji Oishi, Kenji Koide, Masashi Yokozuka, Atsuhiko Banno
2023 J jnl
Single-Shot Global Localization via Graph-Theoretic Correspondence Matching.
CoRR
Shigemichi Matsuzaki, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2022 J jnl
Generalized LOAM: LiDAR Odometry Estimation With Trainable Local Geometric Features.
IEEE Robotics Autom. Lett.
Kohei Honda, Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2022 J jnl
Generalized LOAM: LiDAR Odometry Estimation with Trainable Local Geometric Features.
CoRR
Kohei Honda, Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2022 A* conf
Globally Consistent and Tightly Coupled 3D LiDAR Inertial Mapping.
ICRA
Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2022 J jnl
Globally Consistent and Tightly Coupled 3D LiDAR Inertial Mapping.
CoRR
Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2022 A conf
Scalable Fiducial Tag Localization on a 3D Prior Map via Graph-Theoretic Global Tag-Map Registration.
IROS
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2022 J jnl
Scalable Fiducial Tag Localization on a 3D Prior Map via Graph-Theoretic Global Tag-Map Registration.
CoRR
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
2021 J jnl
4D Attention: Comprehensive Framework for Spatio-Temporal Gaze Mapping.
CoRR
Shuji Oishi, Kenji Koide, Masashi Yokozuka, Atsuhiko Banno
2021 J jnl
4D Attention: Comprehensive Framework for Spatio-Temporal Gaze Mapping.
IEEE Robotics Autom. Lett.
Shuji Oishi, Kenji Koide, Masashi Yokozuka, Atsuhiko Banno
2021 A conf
Adaptive Hyperparameter Tuning for Black-box LiDAR Odometry.
IROS
Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2021 J jnl
Adaptive Hyperparameter Tuning for Black-box LiDAR Odometry.
CoRR
Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2021 A* conf
Automatic Hyper-Parameter Tuning for Black-box LiDAR Odometry.
ICRA
Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2021 J jnl
Globally Consistent 3D LiDAR Mapping With GPU-Accelerated GICP Matching Cost Factors.
IEEE Robotics Autom. Lett.
Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2021 J jnl
Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors.
CoRR
Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2021 J jnl
Interactive 3D Graph SLAM for Map Correction.
IEEE Robotics Autom. Lett.
Kenji Koide, Jun Miura, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2021 A* conf
LiTAMIN2: Ultra Light LiDAR-based SLAM using Geometric Approximation applied with KL-Divergence.
ICRA
Masashi Yokozuka, Kenji Koide, Shuji Oishi, Atsuhiko Banno
2021 J jnl
LiTAMIN2: Ultra Light LiDAR-based SLAM using Geometric Approximation applied with KL-Divergence.
CoRR
Masashi Yokozuka, Kenji Koide, Shuji Oishi, Atsuhiko Banno
2021 C conf
Shared Autonomy for Telepresence Robots Based on People-Aware Navigation.
IAS
Gloria Beraldo, Kenji Koide, Amedeo Cesta, Satoshi Hoshino, Jun Miura, Matteo Salvà, Emanuele Menegatti
2021 A* conf
Voxelized GICP for Fast and Accurate 3D Point Cloud Registration.
ICRA
Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno
2020 J jnl
C
IEEE Robotics Autom. Lett.
Shuji Oishi, Yasunori Kawamata, Masashi Yokozuka, Kenji Koide, Atsuhiko Banno, Jun Miura
2020 A conf
Collision Risk Assessment via Awareness Estimation Toward Robotic Attendant.
IROS
Kenji Koide, Jun Miura
2020 A conf
LiTAMIN: LiDAR-based Tracking And Mapping by Stabilized ICP for Geometry Approximation with Normal Distributions.
IROS
Masashi Yokozuka, Kenji Koide, Shuji Oishi, Atsuhiko Banno
2020 J jnl
Monocular person tracking and identification with on-line deep feature selection for person following robots.
Robotics Auton. Syst.
Kenji Koide, Jun Miura, Emanuele Menegatti
2020 A conf
Non-overlapping RGB-D Camera Network Calibration with Monocular Visual Odometry.
IROS
Kenji Koide, Emanuele Menegatti
2020 B conf
Sensor-independent Pedestrian Detection for Personal Mobility Vehicles in Walking Space Using Dataset Generated by Simulation.
ICPR
Takahiro Shimizu, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno, Motoki Shino
2019 J jnl
General Hand-Eye Calibration Based on Reprojection Error Minimization.
IEEE Robotics Autom. Lett.
Kenji Koide, Emanuele Menegatti
2018 C conf
Convolutional Channel Features-Based Person Identification for Person Following Robots.
IAS
Kenji Koide, Jun Miura
2017 — conf
Large-scale 3D outdoor mapping and on-line localization using 3D-2D matching.
SII
Takahiro Sakai, Kenji Koide, Jun Miura, Shuji Oishi
2017 — conf
People tracking and re-identification by face recognition for RGB-D camera networks.
ECMR
Kenji Koide, Emanuele Menegatti, Marco Carraro, Matteo Munaro, Jun Miura
2016 B conf
Estimating Person's Awareness of an Obstacle using HCRF for an Attendant Robot.
HAI
Kenji Koide, Jun Miura
2016 J jnl
Identification of a specific person using color, height, and gait features for a person following robot.
Robotics Auton. Syst.
Kenji Koide, Jun Miura
2016 — conf
LIDAR-based body orientation estimation by integrating shape and motion information.
ROBIO
Masanobu Shimizu, Kenji Koide, Igi Ardiyanto, Jun Miura, Shuji Oishi
2016 A conf
Person identification based on the matching of foot strike timings obtained by LRFs and a smartphone.
IROS
Kenji Koide, Jun Miura