arXiv subjects

Seunggyu Kim

Publications and source records attributed to Seunggyu Kim.

4 recordsLinked to original sources

arXiv2026

PTC-Depth: Pose-Refined Monocular Depth Estimation with Temporal Consistency

Monocular depth estimation (MDE) has been widely adopted in the perception systems of autonomous vehicles and mobile robots. However, existing approaches often struggle to maintain temporal consistency in depth estimation across consecutive frames. This inconsistency not only causes jitter but can also lead to estimation failures when the depth range changes abruptly. To address these challenges, this paper proposes a consistency-aware monocular depth estimation framework that leverages wheel odometry from a mobile robot to achieve stable and coherent depth predictions over time. Specifically, we estimate camera pose and sparse depth from triangulation using optical flow between consecutive frames. The sparse depth estimates are used to update a recursive Bayesian estimate of the metric scale, which is then applied to rescale the relative depth predicted by a pre-trained depth estimation foundation model. The proposed method is evaluated on the KITTI, TartanAir, MS2, and our own dataset, demonstrating robust and accurate depth estimation performance.

cs.CV↗

arXiv2025

Fortuity and relevant deformation

We investigate the supercharge cohomology of an $\mathcal{N}=1$ relevant deformation of $\mathcal{N}=4$ super Yang-Mills. By introducing a field redefinition, we integrate out massive fields in a cohomological sense. Then, we construct the monotone cohomologies corresponding to the Kaluza-Klein particles of the dual supergravity solution. Some of the monotone cohomologies obey stringy exclusion principle analogous to that of $AdS_3$. Relatedly, they vanish on the diagonal field configurations, unlike $\mathcal{N}=4$ monotone cohomologies. We also construct infinitely many fortuitous cohomologies for gauge group SU(2). We find that unlike $\mathcal{N}=4$ fortuitous cohomologies, they can either be non-vanishing or vanishing on the diagonal fields. By undoing the field redefinition and taking a suitable UV limit, we show that non-vanishing ones reduce to monotone cohomologies of $\mathcal{N}=4$ SYM, while vanishing ones reduce to fortuitous cohomologies of $\mathcal{N}=4$ SYM. This implies that the fortuity can arise due to the relevant deformation, while monotonicity is not.

hep-th↗

arXiv2024

Large $N$ Universality of 4d $\mathcal{N}=1$ Superconformal Index and AdS Black Holes

We study the large $N$ limit of the matrix models associated with the superconformal indices of four-dimensional $\mathcal{N}=1$ superconformal field theories. We find that for a large class of $\mathcal{N}=1$ superconformal gauge theories, the superconformal indices in the large $N$ limit of such theories are dominated by the 'parallelogram' saddle, providing $O(N^2)$ free energy for the generic value of chemical potentials. This saddle corresponds to BPS black holes in AdS$_5$ whenever a holographic dual description is available. Our saddle applies to a large class of gauge theories, including ADE quiver gauge theories, and the theories with rank-2 tensor matters. Our analysis works for most $\mathcal{N}=1$ superconformal gauge theories that admit a suitable large $N$ limit while keeping the flavor symmetry fixed. We also find 'multi-cut' saddle points, which correspond to the orbifolded Euclidean black holes in AdS$_5$.

hep-th↗

arXiv2024

Holographic Tests for Giant Graviton Expansion

It has been proposed that the superconformal index admits a novel reformulation, called giant graviton expansion. In this paper, we investigate the properties of dual $AdS_5$ black holes using the giant graviton expansion framework. First, we compute the entropy of black holes in $AdS_5\times S^5$ with fixed charges through a large $N$ saddle point analysis on the giant graviton index and further extremize it in the wrapping number. We identify a specific regime of fugacities where our saddle point analysis is valid. It turns out that this condition ensures the absence of closed-time-like curves and the stability of dual black hole solutions with equal charges. In addition, the giant graviton expansion of the index provides insights into how small black holes in AdS can be interpreted as bound states of branes. We extend our study to include the giant graviton expansion with the insertion of a half-BPS surface defect in $\mathcal{N}=4$ SYM with a $U(N)$ gauge group. Finally, we test the giant graviton expansion in various holographic theories whose dual geometries are $AdS_5\times S^5/\mathbb{Z}_k$ and $AdS_5\times SE_5$.

hep-th↗