Jieun Lee

Jieun Lee, Hakjun Lee, Jiyong Oh

As technology advances in autonomous mobile robots, mobile service robots have been actively used more and more for various purposes. Especially, serving robots have been not surprising products anymore since the COVID-19 pandemic. One of the practical problems in operating a serving robot is that it often fails to estimate its pose on a map that it moves around. Whenever the failure happens, servers should bring the serving robot to its initial location and reboot it manually. In this paper, we focus on end-to-end relocalization of serving robots to address the problem. It is to predict robot pose directly from only the onboard sensor data using neural networks. In particular, we propose a deep neural network architecture for the relocalization based on camera-2D LiDAR sensor fusion. We call the proposed method FusionLoc. In the proposed method, the multi-head self-attention complements different types of information captured by the two sensors to regress the robot pose. Our experiments on a dataset collected by a commercial serving robot demonstrate that FusionLoc can provide better performances than previous end-to-end relocalization methods taking only a single image or a 2D LiDAR point cloud as well as a straightforward fusion method concatenating their features.

Xuanqi Zhang, Jieun Lee, Chris Joslin et al.

We present a novel framework for enhancing the visual fidelity and consistency of text-guided 3D Gaussian Splatting (3DGS) editing. Existing editing approaches face two critical challenges: inconsistent geometric reconstructions across multiple viewpoints, particularly in challenging camera positions, and ineffective utilization of depth information during image manipulation, resulting in over-texture artifacts and degraded object boundaries. To address these limitations, we introduce: 1) A complementary information mutual learning network that enhances depth map estimation from 3DGS, enabling precise depth-conditioned 3D editing while preserving geometric structures. 2) A wavelet consensus attention mechanism that effectively aligns latent codes during the diffusion denoising process, ensuring multi-view consistency in the edited results. Through extensive experimentation, our method demonstrates superior performance in rendering quality and view consistency compared to state-of-the-art approaches. The results validate our framework as an effective solution for text-guided editing of 3D scenes.

Hyeok Kim, Youjin Hwang, Jieun Lee et al.

The lack of reliable, personalized information often complicates sexual violence survivors' support-seeking. Recently, there is an emerging approach to conversational information systems for support-seeking of sexual violence survivors, featuring personalization with wide availability and anonymity. However, a single best solution might not exist as sexual violence survivors have different needs and purposes in seeking support channels. To better envision conversational support-seeking systems for sexual violence survivors, we explore personalization trade-offs in designing such information systems. We implement a high-fidelity prototype dialogue-based information system through four design workshop sessions with three professional caregivers and interviewed with four self-identified survivors using our prototype. We then identify two forms of personalization trade-offs for conversational support-seeking systems: (1) specificity and sensitivity in understanding users and (2) relevancy and inclusiveness in providing information. To handle these trade-offs, we propose a reversed approach that starts from designing information and inclusive tailoring that considers unspecified needs, respectively.