publications

All Publications

2026

  1. yang2026radar_odometry.png
    Geometrically-Constrained Radar-Inertial Odometry via Continuous Point-Pose Uncertainty Modeling
    Wooseong Yang, Dongjae Lee, Minwoo Jung, and Ayoung Kim
    IEEE Robotics and Automation Letters (RA-L), 2026
    arXiv HTML PDF
  2. 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
  3. 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
  4. jang2026moana.png
    MOANA: Multi-Radar Dataset for Maritime Odometry and Autonomous Navigation Application
    Hyesu Jang, Wooseong Yang, Hanguen Kim, Dongje Lee, Yongjin Kim, Jinbum Park, Minsoo Jeon, Jaeseong Koh, Yejin Kang, Minwoo Jung, Sangwoo Jung, and Ayoung Kim
    The International Journal of Robotics Research (IJRR), 2026
    arXiv HTML PDF Video Website

2025

  1. kim2025sherloc.png
    SHeRLoc: Synchronized Heterogeneous Radar Place Recognition for Cross-Modal Localization
    Hanjun Kim, Minwoo Jung, Wooseong Yang, and Ayoung Kim
    IEEE Robotics and Automation Letters (RA-L), 2025
    arXiv HTML PDF
  2. 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
  3. noh2025garlio.png
    GaRLIO: Gravity enhanced Radar-LiDAR-Inertial Odometry
    Chiyun Noh, Wooseong Yang, Minwoo Jung, Sangwoo Jung, and Ayoung Kim
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2025
    arXiv HTML PDF Code
  4. kim2025hercules.png
    HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM
    Hanjun Kim, Minwoo Jung, Chiyun Noh, Sangwoo Jung, Hyunho Song, Wooseong Yang, Hyesu Jang, and Ayoung Kim
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2025
    arXiv HTML PDF Video Code Website
  5. 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
  6. song2025city.png
    The City that Never Settles: Simulation-based LiDAR Dataset for Long-Term Place Recognition Under Extreme Structural Changes
    Hyunho Song, Dongjae Lee, Seunghun Oh, Minwoo Jung, and Ayoung Kim
    In Construction Robotics Workshop, IEEE International Conference on Robotics and Automation (ICRA), 2025
    arXiv PDF

2024

  1. hahn2024map.png
    Quantitative 3D Map Accuracy Evaluation Hardware and Algorithm for LiDAR (-Inertial) SLAM
    Sanghyun Hahn, Seunghun Oh, Minwoo Jung, Ayoung Kim, and Sangwoo Jung
    In International Conference on Control, Automation and Systems (ICCAS), 2024
    PDF Code
  2. lee2024toward.png
    Toward Robust LiDAR based 3D Object Detection via Density-Aware Adaptive Thresholding
    Eunho Lee, Minwoo Jung, and Ayoung Kim
    In Field Robotics Workshop, IEEE International Conference on Robotics and Automation (ICRA), 2024
    arXiv PDF
  3. jung2024radarcal.png
    Imaging Radar and LiDAR Image Translation for 3-DOF Extrinsic Calibration
    Sangwoo Jung, Hyesu Jang, Minwoo Jung, Ayoung Kim, and Myung-Hwan Jeon
    Intelligent Service Robotics (ISR), 2024
    HTML PDF
  4. lee2024lidar.png
    LiDAR Odometry Survey: Recent Advancements and Remaining Challenges
    Dongjae Lee, Minwoo Jung, Wooseong Yang, and Ayoung Kim
    Intelligent Service Robotics (ISR), 2024
    HTML PDF
  5. jang2024lodestar.png
    LodeStar: Maritime Radar Descriptor for Semi-Direct Radar Odometry
    Hyesu Jang, Minwoo Jung, Myung-Hwan Jeon, and Ayoung Kim
    IEEE Robotics and Automation Letters (RA-L), 2024
    arXiv HTML PDF Code
  6. lee2024adaptive.png
    Robust 3D Object Detection through Distance based Adaptive Thresholding
    Eunho Lee, Minwoo Jung, Jongho Kim, Kyongsu Yi, and Ayoung Kim
    The Journal of Korea Robotics Society, 2024
    HTML PDF
  7. lee2023conpr.png
    ConPR: Ongoing Construction Site Dataset for Place Recognition
    Dongjae Lee, Minwoo Jung, and Ayoung Kim
    In Closing the Loop on Localization Workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
    arXiv PDF Website
  8. kim2023transpose.png
    TRansPose: Large-Scale Multispectral Dataset for Transparent Object
    Jeongyun Kim, Myung-Hwan Jeon, Sangwoo Jung, Wooseong Yang, Minwoo Jung, Jaeho Shin, and Ayoung Kim
    The International Journal of Robotics Research (IJRR), 2024
    HTML PDF Website
  9. 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

2023

  1. jang2023raplace.png
    RaPlace: Place Recognition for Imaging Radar using Radon Transform and Mutable Threshold
    Hyesu Jang, Minwoo Jung, and Ayoung Kim
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
    arXiv HTML PDF Video Code
  2. 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
  3. jung2024helipr.png
    HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition in Spatial and Temporal Variation Environments
    Minwoo Jung, Dongjae Lee, Wooseong Yang, and Ayoung Kim
    In Novel Sensors Workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
    arXiv PDF Website
  4. jung2023malio_ws.png
    MA-LIO: Multiple Asynchronous LiDAR-Inertial Odometry with Time-dependent Point-wise Uncertainty
    Minwoo Jung, Sangwoo Jung, and Ayoung Kim
    In Towards Safe Autonomy: New Challenges and Trends in Robot Perception Workshop, Robotics: Science and Systems (RSS), 2023
    PDF

2022

  1. yun2022sthereo.png
    STheReO: Stereo Thermal Dataset for Research in Odometry and Mapping
    Seungsang Yun, Minwoo Jung, Jeongyun Kim, Sangwoo Jung, Younghun Cho, Myung-Hwan Jeon, Giseop Kim, and Ayoung Kim
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
    HTML PDF Website
  2. jang2022radar_lidar_ws.png
    Radar-based Angular Correction for Tightly-coupled LiDAR Odometry
    Hyesu Jang, Minwoo Jung, Sangwoo Jung, and Ayoung Kim
    In IROS Workshop on Perception and Navigation for Autonomous Robotics in Unstructured and Dynamic Environments, 2022
    PDF
  3. jung2022aerial_ground.png
    Pointclouds Integration from Aerial and Ground View Exploiting Normal Vector and Pose Graph Optimization
    Minwoo Jung and Ayoung Kim
    In ICRA Late Breaking Results, 2022
    PDF

2021

  1. kim2021wall.png
    Automatic Wall Slant Angle Map Generation using 3D Point Clouds
    Jeongyun Kim, Seungsang Yun, Minwoo Jung, Ayoung Kim, and Younggun Cho
    ETRI Journal, 2021
    HTML PDF
  2. jung2021map.png
    Map Error Measuring Mechanism Design and Algorithm Robust to LiDAR Sparsity
    Sangwoo Jung, Minwoo Jung, and Ayoung Kim
    The Journal of Korea Robotics Society, 2021
    HTML PDF
  3. 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