Author

Jongwoo Lim

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Preprint Oct 2026

PathLift: Depth-Conditioned Metric Lifting for Visual-Navigation Priors

Generalist visual-navigation policies tell a robot which direction to go but not how far. A separate lifting step is needed at deployment to convert their unitless trajectory into a metric path that a controller can track; existing scalar lifters apply uniform scaling that misses per-waypoint corrections, while in-poli...

Gwanjun Shin, Hyeongseok Suh, Hong-Mo Jung et al. · 0 citations

Preprint Jul 2026

Revisiting Matching Response and Swept Feature Volumes for Wide-baseline Omnidirectional Stereo

In this paper, we propose a training strategy for confidence estimation in omnidirectional stereo, targeting the ambiguous matches that frequently occur in wide-baseline setups. Reinterpreting the matching responses produced by the 3D encoder decoder block, we show that their expectation values provide intrinsic confid...

Seungjin Jeon, Jongwoo Lim, Changhee Won · 0 citations