Minwoo Jung

Robust Perception and Mobile Robotics Lab. / Seoul National University

mwjung.jpg

I am a Ph.D. candidate in Mechanical Engineering at Seoul National University (SNU), advised by Prof. Ayoung Kim in the Robust Perception and Mobile Robotics Lab. My research focuses on LiDAR SLAM, sensor fusion, and place recognition for robust robot localization across heterogeneous sensors and long-term environments.

Before starting my Ph.D., I received my M.S. in Mechanical Engineering from SNU and my B.S. in Civil and Environmental Engineering from KAIST. During my graduate studies, I have worked on multiple LiDAR-inertial odometry, heterogeneous LiDAR place recognition, radar-LiDAR localization, and large-scale datasets for autonomous navigation.

I was a visiting research student with the Oxford Robotics Institute DRS Group in 2025, where I collaborated on LiDAR place recognition with vision foundation models and geometric localization in forest environments.

news

May 2026 Will present TreeLoc at ICRA 2026 in Vienna, Austria.
Apr 2026 Gave the tutorial ICP and LiDAR Localization for the Multidisciplinary Creative Class.
Mar 2026 Published Geometrically-Constrained Radar-Inertial Odometry in RA-L (3rd author).
Feb 2026 Released TreeLoc++ as an arXiv preprint (1st author).
Feb 2026 Gave the tutorial Understanding 3D LiDAR Point Clouds and Their Practical Usage for the Machine Intelligence Industry-Academia Open Lecture and Consulting program.
Feb 2026 Attended KRoC 2026 at Alpensia Convention Center, Pyeongchang, Korea.
Feb 2026 Submitted a paper to IROS 2026 (3rd author).
Feb 2026 Published TreeLoc at ICRA 2026 (1st author).

selected publications

  1. jung2026treelocplusplus.png
    TreeLoc++: Robust 6-DoF LiDAR Localization in Forests with a Compact Digital Forest Inventory
    Minwoo Jung, Dongjae Lee, Nived Chebrolu, Haedam Oh, Maurice Fallon, and Ayoung Kim
    arXiv preprint arXiv:2603.03695, Mar 2026
    arXiv PDF Code
  2. jung2026treeloc.png
    TreeLoc: 6-DoF LiDAR Global Localization in Forests via Inter-Tree Geometric Matching
    Minwoo Jung, Nived Chebrolu, Lucas Carvalho Lima, Haedam Oh, Maurice Fallon, and Ayoung Kim
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Feb 2026
    arXiv PDF Code
  3. jung2025imlpr.png
    ImLPR: Image-based LiDAR Place Recognition using Vision Foundation Models
    Minwoo Jung, Lanke Frank Tarimo Fu, Maurice Fallon, and Ayoung Kim
    In Proceedings of The 9th Conference on Robot Learning (CoRL), Aug 2025
    arXiv HTML PDF Code
  4. jung2025helios.png
    HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer
    Minwoo Jung, Sangwoo Jung, Hyeonjae Gil, and Ayoung Kim
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2025
    arXiv HTML PDF Video Code
  5. jung2024helipr.png
    HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatiotemporal Variations
    Minwoo Jung, Wooseong Yang, Dongjae Lee, Hyeonjae Gil, Giseop Kim, and Ayoung Kim
    The International Journal of Robotics Research (IJRR), 2024
    HTML PDF Website
  6. jung2023malio_ws.png
    Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
    Minwoo Jung, Sangwoo Jung, and Ayoung Kim
    IEEE Robotics and Automation Letters (RA-L), 2023
    HTML PDF Video Code
  7. jung2021intensity.png
    Intensity and Ambient Enhanced LiDAR-Inertial SLAM for Unstructured Construction Environment
    Minwoo Jung, Sangwoo Jung, Hyesu Jang, and Ayoung Kim
    The Journal of Korea Robotics Society, 2021
    HTML PDF Code