Research

IEEE T-FR SKiD-SLAM: Resource-Aware Distributed Multi-Robot LiDAR SLAM for Planetary Missions with Field Deployments at Analog Sites

Hogyun Kim, Juwon Kim, Dongjin Cho, Jiwon Choi, Geonmo Yang, Seokhwan Jeong, Jiyun Lee, Miryeong Park, Hyungtae Lim, and Younggun Cho

SLAM Field

Aug. 2026

IEEE/RSJ IROS RadLoc: Radar-based 3-DoF Global Localization via Fast, Robust, and Lightweight Spatial Descriptor Across Diverse Environmental Scenarios

Hogyun Kim, Jiwon Choi, Jungwoo Lee, and Younggun Cho

SLAM Field

Jun. 2026

IJRR Commerge: Communication-Efficient, Robust, and Fast LiDAR Map Merging Framework for Multi-Robot Coordination in Resource-Constrained Scenarios

Hogyun Kim, Jiwon Choi, Juwon Kim, Geonmo Yang, Seokhwan Jeong, Hyungtae Lim, and Younggun Cho

SLAM Field

Jun. 2026

🏆 Award Finalist IEEE ICRA KISS-IMU: Self-supervised Inertial Odometry with Motion-balanced Learning and Uncertainty-aware Inference

Jiwon Choi, Hogyun Kim, Geonmo Yang, Juhui Lee and Younggun Cho

Learning Field

Jun. 2026

IEEE ICRA GSAT: Geometric Traversability Estimation using Self-supervised Learning with Anomaly Detection for Diverse Terrains

Dongjin Cho, Miryeong Park, Juhui Lee, Geonmo Yang, and Younggun Cho

Traverability Field

Jun. 2026

iSpaRo CUTE-Planner: Confidence-aware Uneven Terrain Exploration Planner

Miryeong Park, Dongjin Cho, Sanghyun Kim, and Younggun Cho

Exploration Field

Dec. 2025

IEEE RA-L MSG-Loc: Multi-Label Likelihood-based Semantic Graph Matching for Object-Level Global Localization

Gihyeon Lee, Jungwoo Lee, Juwon Kim, Young-Sik Shin, and Younggun Cho

Semantic Indoor

Nov. 2025

IEEE RA-L Freeze-Frame with StaticNeRF: Uncertainty-Guided NeRF Map Reconstruction in Dynamic Scenes

Juhui Lee, Geonmo Yang, Seungjun Ma, and Younggun Cho

Neural Rendering Indoor

Oct. 2025

IEEE T-IV Uni-Mapper: Unified Mapping Framework for Multi-modal LiDARs in Complex and Dynamic Environments

Gilhwan Kang, Hogyun Kim, Byunghee Choi, Seokhwan Jeong, Young-Sik Shin, and Younggun Cho

SLAM Urban

Oct. 2025

IEEE/RSJ IROS-W CLOI-NAV: Open-World Vision-and-Language Navigation via Complex, Long-horizon Ordered Instructions

Minho Lee, Jaeil Park, Jinyong Jeong, and Younggun Cho

VLN Indoor

Oct. 2025

IEEE/RSJ IROS-W MUST-Loc: Multi-view Uncertainty-aware Semantic Token Association for Object-level Global Localization

Gihyeon Lee, Young-Sik Shin, and Younggun Cho

Semantic Indoor

Oct. 2025

IEEE/RSJ IROS MARSCalib: Multi-robot, Automatic, Robust, Spherical Target-based Extrinsic Calibration in Field and Extraterrestrial Environments

Seokhwan Jeong, Hogyun Kim, and Younggun Cho

Calibration Field

Oct. 2025

IEEE ICRA-W SKiD-SLAM: Robust, Lightweight, and Distributed Multi-Robot LiDAR SLAM in Resource-Constrained Field Environments

Hogyun Kim, Jiwon Choi, Juwon Kim, Geonmo Yang, Dongjin Cho, Hyungtae Lim, and Younggun Cho

SLAM Field

May. 2025

IEEE ICRA PoLaRIS Dataset: A Maritime Object Detection and Tracking Dataset in Pohang Canal

Jiwon Choi*, Dongjin Cho*, Gihyeon Lee, Hogyun Kim, Geonmo Yang, Joowan Kim, and Younggun Cho

Dataset Maritime

May. 2025

IEEE ICRA DiTer++ : Diverse Terrain and Multi-modal Dataset for Multi-Robot Navigation in Multi-session Outdoor Environments

Juwon Kim, Hogyun Kim, SeokHwan Jeong, Youngsik Shin, and Younggun Cho

Dataset Field

May. 2025

IEEE RA-L ReFeree: Radar-Based Lightweight and Robust Localization Using Feature and Free Space

Hogyun Kim, ByungHee Choi, Euncheol Choi, and Younggun Cho

SLAM Urban

Dec. 12, 2024

IEEE Sensors Journal TRIDENT: Efficient Triple-Task Learning of Dehazing, Depth and Uncertainty Estimation for Underwater 3D Robot Visual Perception

Geonmo Yang, and Younggun Cho

Robust sensing Underwater

Nov. 05, 2024

IEEE RA-L Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition

Hogyun Kim, Jiwon Choi, Taehu Sim, Giseop Kim, and Younggun Cho

SLAM Urban

Aug. 07, 2024

IEEE ICRA Salience-guided Ground Factor for Robust Localization of Delivery Robots in Complex Urban Environments

Jooyong Park, Jungwoo Lee, Euncheol Choi, and Younggun Cho

SLAM Urban

May. 13, 2024

IEEE Sensors Letters DiTer: Diverse Terrain and Multimodal Dataset for Field Robot Navigation in Outdoor Environments

Geonmo Yang, Gilhwan Kang, Juhui Lee, and Younggun Cho

Dataset Field

Jan. 29, 2024

IEEE Sensors Journal Joint-ID: Transformer-based joint image enhancement and depth estimation for underwater environments

Geonmo Yang, Gilhwan Kang, Juhui Lee, and Younggun Cho

Robust sensing Underwater

Dec. 08, 2023

IEEE ICRA Robust Imaging Sonar-based Place Recognition and Localization in Underwater Environments

Hogyun Kim, Gilhwan Kang, Seokhwan Jeong, Seungjun Ma, and Younggun Cho

SLAM Underwater

May. 29, 2023