arXiv subjects

Jaehyun So

Publications and source records attributed to Jaehyun So.

2 recordsLinked to original sources

arXiv2025

Mirroring the Parking Target: An Optimal-Control-Based Parking Motion Planner with Strengthened Parking Reliability and Faster Parking Completion

Automated Parking Assist (APA) systems are now facing great challenges of low adoption in applications, due to users' concerns about parking capability, reliability, and completion efficiency. To upgrade the conventional APA planners and enhance user's acceptance, this research proposes an optimal-control-based parking motion planner. Its highlight lies in its control logic: planning trajectories by mirroring the parking target. This method enables: i) parking capability in narrow spaces; ii) better parking reliability by expanding Operation Design Domain (ODD); iii) faster completion of parking process; iv) enhanced computational efficiency; v) universal to all types of parking. A comprehensive evaluation is conducted. Results demonstrate the proposed planner does enhance parking success rate by 40.6%, improve parking completion efficiency by 18.0%, and expand ODD by 86.1%. It shows its superiority in difficult parking cases, such as the parallel parking scenario and narrow spaces. Moreover, the average computation time of the proposed planner is 74 milliseconds. Results indicate that the proposed planner is ready for real-time commercial applications.

cs.RO↗

arXiv2023

3D Face Alignment Through Fusion of Head Pose Information and Features

The ability of humans to infer head poses from face shapes, and vice versa, indicates a strong correlation between the two. Accordingly, recent studies on face alignment have employed head pose information to predict facial landmarks in computer vision tasks. In this study, we propose a novel method that employs head pose information to improve face alignment performance by fusing said information with the feature maps of a face alignment network, rather than simply using it to initialize facial landmarks. Furthermore, the proposed network structure performs robust face alignment through a dual-dimensional network using multidimensional features represented by 2D feature maps and a 3D heatmap. For effective dense face alignment, we also propose a prediction method for facial geometric landmarks through training based on knowledge distillation using predicted keypoints. We experimentally assessed the correlation between the predicted facial landmarks and head pose information, as well as variations in the accuracy of facial landmarks with respect to the quality of head pose information. In addition, we demonstrated the effectiveness of the proposed method through a competitive performance comparison with state-of-the-art methods on the AFLW2000-3D, AFLW, and BIWI datasets.

cs.CV↗