arXiv subjects

Minwoo Jung

Publications and source records attributed to Minwoo Jung.

35 records · Page 2Linked to original sources

arXiv2024

LodeStar: Maritime Radar Descriptor for Semi-Direct Radar Odometry

Maritime radars are prevalently adopted to capture the vessel's omnidirectional data as imagery. Nevertheless, inherent challenges persist with marine radars, including limited frequency, suboptimal resolution, and indeterminate detections. Additionally, the scarcity of discernible landmarks in the vast marine expanses remains a challenge, resulting in consecutive scenes that often lack matching feature points. In this context, we introduce a resilient maritime radar scan representation LodeStar, and an enhanced feature extraction technique tailored for marine radar applications. Moreover, we embark on estimating marine radar odometry utilizing a semi-direct approach. LodeStar-based approach markedly attenuates the errors in odometry estimation, and our assertion is corroborated through meticulous experimental validation.

cs.RO↗

arXiv2023

High quality nanocavities through multimodal confinement of hyperbolic polaritons in hexagonal boron nitride

A conventional optical cavity supports modes which are confined because they are unable to leak out of the cavity. Bound state in continuum (BIC) cavities are an unconventional alternative, where light can leak out, but is confined by multimodal destructive interference. BICs are a general wave phenomenon, of particular interest to optics, but BICs and multimodal interference have never been demonstrated at the nanoscale. Here, we demonstrate the first nanophotonic cavities based on BIC-like multimodal interference. This novel confinement mechanism for deep sub-wavelength light shows orders of magnitude improvement in several confinement metrics. Specifically, we obtain cavity volumes below 100x100x3nm^3 with quality factors about 100, with extreme cases having 23x23x3nm^3 volumes or quality factors above 400. Key to our approach, is the use of pristine crystalline hyperbolic dispersion media (HyM) which can support large momentum excitations with relatively low losses. Making a HyM cavity is complicated by the additional modes that appear in a HyM. Ordinarily, these serve as additional channels for leakage, reducing cavity performance. But, in our experiments, we find a BIC-like cavity confinement enhancement effect, which is intimately related to the ray-like nature of HyM excitations. In fact, the quality factors of our cavities exceed the maximum that is possible in the absence of higher order modes. The alliance of HyM with BICs in our work yields a radically novel way to confine light and is expected to have far reaching consequences wherever strong optical confinement is utilized, from ultra-strong light-matter interactions, to mid-IR nonlinear optics and a range of sensing applications.

physics.optics↗

arXiv2023

LiDAR Odometry Survey: Recent Advancements and Remaining Challenges

Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine its current location. Various sensors, such as wheel encoder, inertial measurement unit (IMU), camera, radar, and Light Detection and Ranging (LiDAR), are used for odometry in robotics. LiDAR, in particular, has gained attention for its ability to provide rich three-dimensional (3D) data and immunity to light variations. This survey aims to examine advancements in LiDAR odometry thoroughly. We start by exploring LiDAR technology and then scrutinize LiDAR odometry works, categorizing them based on their sensor integration approaches. These approaches include methods relying solely on LiDAR, those combining LiDAR with IMU, strategies involving multiple LiDARs, and methods fusing LiDAR with other sensor modalities. In conclusion, we address existing challenges and outline potential future directions in LiDAR odometry. Additionally, we analyze public datasets and evaluation methods for LiDAR odometry. To our knowledge, this survey is the first comprehensive exploration of LiDAR odometry.

cs.RO↗

arXiv2023

TRansPose: Large-Scale Multispectral Dataset for Transparent Object

Transparent objects are encountered frequently in our daily lives, yet recognizing them poses challenges for conventional vision sensors due to their unique material properties, not being well perceived from RGB or depth cameras. Overcoming this limitation, thermal infrared cameras have emerged as a solution, offering improved visibility and shape information for transparent objects. In this paper, we present TRansPose, the first large-scale multispectral dataset that combines stereo RGB-D, thermal infrared (TIR) images, and object poses to promote transparent object research. The dataset includes 99 transparent objects, encompassing 43 household items, 27 recyclable trashes, 29 chemical laboratory equivalents, and 12 non-transparent objects. It comprises a vast collection of 333,819 images and 4,000,056 annotations, providing instance-level segmentation masks, ground-truth poses, and completed depth information. The data was acquired using a FLIR A65 thermal infrared (TIR) camera, two Intel RealSense L515 RGB-D cameras, and a Franka Emika Panda robot manipulator. Spanning 87 sequences, TRansPose covers various challenging real-life scenarios, including objects filled with water, diverse lighting conditions, heavy clutter, non-transparent or translucent containers, objects in plastic bags, and multi-stacked objects. TRansPose dataset can be accessed from the following link: https://sites.google.com/view/transpose-dataset

cs.CV↗

arXiv2023

Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation

In recent years, multiple Light Detection and Ranging (LiDAR) systems have grown in popularity due to their enhanced accuracy and stability from the increased field of view (FOV). However, integrating multiple LiDARs can be challenging, attributable to temporal and spatial discrepancies. Common practice is to transform points among sensors while requiring strict time synchronization or approximating transformation among sensor frames. Unlike existing methods, we elaborate the inter-sensor transformation using continuous-time (CT) inertial measurement unit (IMU) modeling and derive associated ambiguity as a point-wise uncertainty. This uncertainty, modeled by combining the state covariance with the acquisition time and point range, allows us to alleviate the strict time synchronization and to overcome FOV difference. The proposed method has been validated on both public and our datasets and is compatible with various LiDAR manufacturers and scanning patterns. We open-source the code for public access at https://github.com/minwoo0611/MA-LIO.

cs.RO↗

arXiv2023

RaPlace: Place Recognition for Imaging Radar using Radon Transform and Mutable Threshold

Due to the robustness in sensing, radar has been highlighted, overcoming harsh weather conditions such as fog and heavy snow. In this paper, we present a novel radar-only place recognition that measures the similarity score by utilizing Radon-transformed sinogram images and cross-correlation in frequency domain. Doing so achieves rigid transform invariance during place recognition, while ignoring the effects of radar multipath and ring noises. In addition, we compute the radar similarity distance using mutable threshold to mitigate variability of the similarity score, and reduce the time complexity of processing a copious radar data with hierarchical retrieval. We demonstrate the matching performance for both intra-session loop-closure detection and global place recognition using a publicly available imaging radar datasets. We verify reliable performance compared to existing stable radar place recognition method. Furthermore, codes for the proposed imaging radar place recognition is released for community.

cs.RO↗

arXiv2022

Transverse hypercrystals formed by periodically modulated phonon-polaritons

Photonic crystals and metamaterials are two overarching paradigms for manipulating light. Combining the two approaches leads to hypercrystals: hyperbolic dispersion metamaterials that undergo periodic modulation and mix photonic-crystal-like aspects with hyperbolic dispersion physics. So far, there has been limited experimental realization of hypercrystals due to various technical and design constraints. Here, we create nanoscale hypercrystals with lattice constants ranging from 25 nm to 160 nm and measure their collective Bloch modes and dispersion with scattering nearfield microscopy. We demonstrate for the first time dispersion features such as negative group velocity, indicative of bandfolding, and signatures of sharp density of states peaks, expected for hypercrystals (and not for ordinary polaritonic crystals). These density peaks connect our findings to the theoretical prediction of an extremely rich hypercrystal bandstructure emerging even in geometrically simple lattices. These features make hypercrystals both fundamentally interesting, as well as of potential use to engineering nanoscale light-matter interactions.

cond-mat.mes-hall↗

arXiv2022

Emergent intersubband-plasmon-polaritons of Dirac electrons under one-dimensional superlattices

Artifical superlattice (SL) potentials have been employed extensively for band structure engineering of two-dimensional (2D) Dirac electron gas in graphene. While such engineered electronic band structures can modify optical or plasmonic properties of graphene, an emergent polaritonic behavior beyond weak perturbative effects (e.g. anisotropic Drude weights) has not been reported. Here, we show that an extreme modulation of one-dimensional (1D) SL potentials in monolayer graphene deforms the underlying Dirac band dispersion and introduces ladder-like energy levels near the Fermi surface, which result in emergent intersubband polaritonic responses in optical conductivity. In our proposed system, hBN-encapsulated graphene is placed on top of a 1D periodic metagate. In addition, a backgate placed beneath the metagate is used as the second gate, further modulating carrier density on regions in graphene that are not directly screened by the metagate. With a strong carrier density modulation, graphene electrons experience an array of deep potential wells, and at large enough momenta perpendicular to the modulation direction, Dirac electrons are waveguided via total internal reflections. These waveguided modes appear as flat subbands with nearly equispaced energy levels. As a result, there arise hybrid intersubband-polaritons with ultra-strong coupling in plasmonic dispersions. Our study opens up an avenue for exploring emergent polaritons in two-dimensional materials with gate-tunable electronic band structures.

cond-mat.mes-hall↗

arXiv2022

Evolution and reflection of ray-like excitations in hyperbolic dispersion media

Light in hyperbolic dispersion media is known to exhibit an intriguing ray-like character. However, detailed understanding of ray-like excitations in hyperbolic media is surprisingly limited, mostly based on numerical simulations. In our work, we analytically describe the formation of multimodal ray-like excitations in a planar slab of hyperbolic media. We demonstrate that these rays have an approximately Lorentzian profile and that they propagate in a zig-zagged manner. These rays acquire phase in a discrete fashion at every internal reflection inside the slab and broaden at a rate which is proportional to the rate of optical absorption. Moreover, based on this description, we reveal a unique reflection mechnanism where destructive interefernce between the different modes composing the ray can improve the strength of reflection at an interface between a dielectric and a metalic substrate. This reflection mechanism is highly asymmetric, occuring only when the ray is incident from the side of the dielectric substrate to the side of the metallic substrate, and the strength of reflection is shown to be directly related to the width of the ray.

physics.optics↗

arXiv2021

The Structure and Dispersion of Exciton-Trion-Polaritons in Two-Dimensional Materials: Experiments and Theory

The nature of trions and their interaction with light has remained a puzzle. The composition and dispersion of polaritons involving trions provide insights into this puzzle. Trions and excitons in doped two-dimensional (2D) materials are not independent excitations but are strongly coupled as a result of Coulomb interactions. When excitons in doped 2D materials are also strongly coupled with light inside an optical waveguide, the resulting polariton states are coherent superpositions of exciton, trion, and photon states. We realize these exciton-trion-polaritons by coupling an electron-doped monolayer of two-dimensional material MoSe2 to the optical mode in a photonic crystal waveguide. Our theoretical model, based on a many-body description of these polaritons, reproduces the measured polariton energy band dispersion and Rabi splittings with excellent accuracy. Our work sheds light on the structure of trion states in 2D matrials and also on the indirect mechanism by which they interact with light.

cond-mat.mes-hall↗

arXiv2021

Spin-Polarized Fractional Corner Charges and Their Photonic Realization

We demonstrate that a spin degree of freedom can introduce additional texture to higher order topological insulators (HOTIs), manifesting itself in novel topological invariants, phases, and phase transitions. Spin-polarized mid-gap corner states of various multiplicities are predicted for different HOTI phases, and novel bulk-boundary correspondence principles are defined based on quantized bulk invariants such as total and spin corner charge. Those are shown to be robust with respect to symmetry-preserving spin-flipping perturbations. Photonic realizations of spin-linked topological phases are demonstrated in engineered systems with synthetically emulated spin degree of freedom.

cond-mat.mes-hall↗

arXiv2021

Exact Higher-order Bulk-boundary Correspondence of Corner-localized States

We demonstrate that the presence of a localized state at the corner of an insulating domain is not always a predictor of a certain non-trivial higher-order topological invariant, even though they appear to co-exist in the same Hamiltonian parameter space. Our analysis of $C^n$-symmetric crystalline insulators and their multi-layer stacks reveals that topological corner states are not necessarily correlated with other well-established higher-order boundary observables, such as fractional corner charge or filling anomaly. In a $C^3$-symmetric breathing Kagome lattice, for example, we show that the bulk polarization, which successfully predicts the fractional corner anomaly, fails to be the relevant topological invariant for zero-energy corner states; instead, these corner states can be exactly explained by the decoration of topological edges. Also, while the zero-energy corner states in $C^4$-symmetric topological crystalline insulators have long been conjectured to be the result of the bulk polarization at quarter-filling, we correct this misconception by introducing a proper bulk invariant at half-filling and establishing a precise bulk-corner correspondence. By refining several bulk-corner correspondences in two-dimensional topological crystalline insulators, our work motivates further development of rigorous theoretical grounds for associating the existence of corner states with higher-order topology of host materials.

cond-mat.mes-hall↗

arXiv2021

Many-body theory of radiative lifetimes of exciton-trion superposition states in doped two-dimensional materials

Optical absorption and emission spectra of doped two-dimensional (2D) materials exhibit sharp peaks that are often identified with pure excitons and pure trions (or charged excitons), but both peaks have been recently attributed to superpositions of 2-body exciton and 4-body trion states and correspond to the approximate energy eigenstates in doped 2D materials. In this paper, we present the radiative lifetimes of these exciton-trion superposition energy eigenstates using a many-body formalism that is appropriate given the many-body nature of the strongly coupled exciton and trion states in doped 2D materials. Whereas the exciton component of these superposition eigenstates are optically coupled to the material ground state, and can emit a photon and decay into the material ground state provided the momentum of the eigenstate is within the light cone, the trion component is optically coupled only to the excited states of the material and can emit a photon even when the momentum of the eigenstate is outside the light cone. In an electron-doped 2D material, when a 4-body trion state with momentum outside the light cone recombines radiatively, and a photon is emitted with a momentum inside the light cone, the excess momentum is taken by an electron-hole pair left behind in the conduction band. The radiative lifetimes of the exciton-trion superposition states, with momenta inside the light cone, are found to be in the few hundred femtoseconds to a few picoseconds range and are strong functions of the doping density. The radiative lifetimes of exciton-trion superposition states, with momenta outside the light cone, are in the few hundred picoseconds to a few nanoseconds range and are again strongly dependent on the doping density.

cond-mat.mes-hall↗

arXiv2020

Exciton-Trion-Polaritons in Two-Dimensional Materials

We present a many-body theory for exciton-trion-polaritons in doped two-dimensional materials. Exciton-trion-polaritons are robust coherent hybrid excitations involving excitons, trions, and photons. Signatures of these polaritons have been recently seen in experiments. In these polaritons, the 2-body exciton states are coupled to the material ground state via exciton-photon interaction and the 4-body trion states are coupled to the exciton states via Coulomb interaction. The trion states are not directly optically coupled to the material ground state. The energy-momentum dispersion of these polaritons exhibit three bands. We calculate the energy band dispersions and the compositions of polaritons at different doping densities using Green's functions. The energy splittings between the polariton bands, as well as the spectral weights of the polariton bands, depend on the strength of the Coulomb coupling between the excitons and the trions and which in turn depends on the doping density. The excitons are Coulomb coupled to both bound and unbound trion states. The latter are exciton-electron scattering states and their inclusion is necessary to capture the spectral weight transfer among the polariton bands as a function of the doping density.

cond-mat.mes-hall↗

arXiv2020

Application of Jordan Decomposition to Non-Hermitian Lattice Models with Spectrally-Isolated Lower Dimensional States

When analyzing non-Hermitian lattice systems, the standard eigenmode decomposition utilized for the analysis of Hermitian systems must be replaced by Jordan decomposition. This approach enables us to identify the correct number of the left and right eigenstates of a large finite-sized lattice system, and to form a complete basis for calculating the resonant excitation of the system. Specifically, we derive the procedure for applying Jordan decomposition to a system with spectrally-isolated states. We use a non-Hermitian quadrupole insulator with zero-energy corner states as an example of a large system whose dimensionality can be drastically reduced to derive a low-dimensional "defective" Hamiltonian describing such localized states. Counter-intuitive and non-local properties of the resonant response of the system near zero energy are explained using the Jordan decomposition approach. Depending on the excitation properties of the corner states, we classify our non-Hermitian quadrupolar insulator into three categories: trivial, near-Hermitian, and non-local.

cond-mat.mes-hall↗

arXiv2019

Photonic emulation of two-dimensional materials with antiferromagnetic order

We introduce an electromagnetic metamaterial - a spin-valley photonic topological insulator (SV-PTI) - that emulates a wide class of theoretically predicted gapped two-dimensional materials with antiferromagnetic order coupled to the valley degree of freedom. First-principles electromagnetic simulations and an analytic model reveal that a single parameter controls the propagation properties of the chiral states at the domain wall between two SV-PTIs: their group velocity, polarization, and the existence/absence of topological protection. The latter is determined by the geometry of the line of the least frequency separation between the bandgap-forming propagation bands. Topologically-protected compression of electromagnetic energy via group velocity control is enabled by SV-PTIs.

cond-mat.mes-hall↗

arXiv2018

Active Valley-topological Plasmonic Crystal in Metagate-tuned Graphene

A valley plasmonic crystal for graphene surface plasmons (GSPs) is proposed. We demonstrate that a designer metagate, placed within a few nanometers from graphene, can be used to impose a triangular periodic Fermi energy landscape on the latter. For specific metagate geometries and bias voltages, the combined metagate-graphene structure is shown to produce sufficiently strong Bragg scattering of GSPs to produce complete propagation bandgaps, and to impart the GSPs with nontrivial valley-linked topological properties. Valley-selective kink states supported by a domain wall between differently patterned metagates are shown to propagate without reflections along sharply curved interfaces owing to suppressed inter-valley scattering. Our approach paves the way for non-magnetic dynamically reconfigurable topological nanophotonic devices.

cond-mat.mes-hall↗