Robotic Perception

Seeing and understanding

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2026

5 papers

Efficient 3D LiDAR pattern feature extraction and descriptor computation for robust loop closure detection.

Ehsan Ullah Khan and Gon-Woo Kim

Intelligent Service Robotics 2026

Cited by 1

DOI

Joint Geometry-Feature Clustering and Robust Language Association for Open-Vocabulary Gaussian Splatting

Phan Thanh Danh and Gon-Woo Kim

ICCAS 2026 — International Conference on Control, Automation and Systems

Project: 3D Semantic Mapping and Navigation for Robot Task Planning

Multi-Robot Enclosure of 3D Objects by Equilateral Formation on Offset Surfaces

Phan Gia Luan and Gon-Woo Kim

KRoC 2026 — Korea Robotics Society Annual Conference

Real-Time Object-Centric Mapping Based on Detection, Tracking, and ORB-SLAM

Phan Thanh Danh and Gon-Woo Kim

KRoC 2026 — Korea Robotics Society Annual Conference

Robust Vision–Language Place Recognition via Attention-Based Semantic Features and Structured Graph Descriptors.

Ehsan Ullah Khan and Gon-Woo Kim

IEEE RAL 2026 — IEEE Robotics and Automation Letters

DOI

2025

5 papers

Dynamic Object Segmentation and Removal Framework for SLAM in Dynamic Environments

Asad Wadood and Gon-Woo Kim

KRoC 2025 — Korea Robotics Society Annual Conference

Improving Pose Estimation for Visual-Inertial Odometry Using Depth Estimation Error Algorithm

Tran Quoc Duy and Gon-Woo Kim

KRoC 2025 — Korea Robotics Society Annual Conference

Multi Sensor Aware Online LiDAR Point Cloud Distortion Correction for Precise Localization and Mapping in Agriculture Fields

Narayan Longani and Gon-Woo Kim

ICCAS 2025 — International Conference on Control, Automation and Systems

Multi-Prior Feature Attention and Graph-Based Scene Representation for Reliable Vision-Language Place Recognition

Ehsan Ullah Khan and Gon-Woo Kim

IROS 2025 — IEEE/RSJ International Conference on Intelligent Robots and Systems

Perception and Deep Reinforcement Learning-Based Local Path Planner for Autonomous Vehicles

Phan Thanh Danh and Gon-Woo Kim

JKROS 2025 — Journal of Korea Robotics Society

DOI

2023

2 papers

A Robust Feature Matching Strategy for Fast and Effective Visual Place Recognition in Challenging Environmental Conditions

Saba Arshad and Gon-Woo Kim

IJCAS 2023 — International Journal of Control, Automation and Systems

Cited by 21

DOI

Semantic Segmentation의 정확성 향상을 위한 가상 데이터 혼합 훈련 전략

Hyundo Jung and Gon-Woo Kim

KRoC 2023 — Korea Robotics Society Annual Conference

2022

5 papers

A Survey of 3D object detection method based on point cloud projection

Hoang Duy Loc and Gon-Woo Kim

KRoC 2022 — Korea Robotics Society Annual Conference

AEC3D: An Efficient and Compact Single Stage 3D Multiobject Detector for Autonomous Driving

Hoang Duy Loc and Gon-Woo Kim

IEEE T-ITS 2022 — IEEE Transactions on Intelligent Transportation Systems

Cited by 6

DOI

Fast and Accurate Deep Learning-Based Framework for 3D Multi-Object Detector for Autonomous Vehicles

Hoang Duy Loc and Gon-Woo Kim

BigComp 2022 — IEEE International Conference on Big Data and Smart Computing

Cited by 3

DOI

Semantic Visual Place Recognition in Dynamic Urban Environment

Saba Arshad and Gon-Woo Kim

J. Robot. Soc. 2022 — Journal of Robotics Society

DOI

Semantic Visual Place Recognition in Dynamic Urban Environment

Saba Arshad and Gon-Woo Kim

KRoC 2022 — Korea Robotics Society Annual Conference

2021

3 papers

A Compute-Efficient Illumination Invariant Visual Place Recognition Method for Autonomous Navigation in Changing Environments

Saba Arshad and Gon-Woo Kim

UR 2021 — International Conference on Ubiquitous Robots

Automatic Multiple LiDAR Calibration Based on the Plane Features of Structured Environments

Do-Hyeong Kim and Gon-Woo Kim

IEEE Access 2021 — IEEE Access

Cited by 15

DOI

Online Self-Calibration of Multiple 2D LiDARs Using Line Features with Fuzzy Adaptive Covariance

Dinh Van Nam and Gon-Woo Kim

IEEE Sensors J. 2021 — IEEE Sensors Journal

Cited by 12

DOI

2020

5 papers

A Comparative Study of Recent Real-Time Semantic Segmentation Algorithms for Visual Semantic SLAM

Zeeshan Javed and Gon-Woo Kim

BigComp 2020 — IEEE International Conference on Big Data and Smart Computing

Cited by 3

DOI

A study on deep learning techniques fo 3D object detection

Hoang Duy Loc and Gon-Woo Kim

KRoC 2020 — Korea Robotics Society Annual Conference

An Appearance and Viewpoint Invariant Visual Place Recognition for Seasonal Changes

Saba Arshad and Gon-Woo Kim

ICCAS 2020 — International Conference on Control, Automation and Systems

Cited by 2

DOI

Robustifying Visual Place Recognition with Semantic Scene Categorization

Saba Arshad and Gon-Woo Kim

BigComp 2020 — IEEE International Conference on Big Data and Smart Computing

Cited by 4

DOI

Visual-LiDAR based 3D object detection and tracking for embedded systems

Sualeh Muhammad and Gon-Woo Kim

IEEE Access 2020 — IEEE Access

Cited by 52

DOI

2019

7 papers

Depth Up Sampling of 3D LiDAR Data for RGB-D*

Sualeh Muhammad and Gon-Woo Kim

UR 2019 — International Conference on Ubiquitous Robots

Dynamic multi-lidar based multiple object detection and tracking

Sualeh Muhammad and Gon-Woo Kim

Sensors 2019 — Sensors

Cited by 93

DOI

Efficient ground segmentation method for fused LiDAR point clouds

Sualeh Muhammad and Gon-Woo Kim

ICROS 2019 — 제어로봇시스템학회 학술대회

Efficient LiDAR pre-processing for multiple object detection and tracking

Sualeh Muhammad and Gon-Woo Kim

KRoC 2019 — Korea Robotics Society Annual Conference

Planar and Pole Feature Extraction Method for Pose Estimation Using 3D LiDAR in urban environment

Do-Hyeong Kim and Gon-Woo Kim

UR 2019 — International Conference on Ubiquitous Robots

Towards Resource Efficient, Viewpoint and Condition Invariant Visual Place Recognition System

Saba Arshad and Gon-Woo Kim

UR 2019 — International Conference on Ubiquitous Robots

Visual Place Recognition for Long Term Autonomy in ChangingEnvironments: A Review

Saba Arshad and Gon-Woo Kim

KRoC 2019 — Korea Robotics Society Annual Conference

2018

4 papers

A Low-Level Feature Extraction Method for 3D LiDAR-based GraphSLAM in Urban Environments

Do-Hyeong Kim, Woong-Yeol Joe, and Gon-Woo Kim

UR 2018 — International Conference on Ubiquitous Robots

Appearance based Visual Place Recognition in Changing Environmental Conditions

Saba Arshad and Gon-Woo Kim

ICROS 2018 — 제어로봇시스템학회 학술대회

Efficient Ground Extraction Method for Multi 3D-LiDAR Point Clouds

Sualeh Muhammad and Gon-Woo Kim

KSAE 2018 — KSAE Annual Spring Conference

Improved LiDAR-camera calibration using marker detection based on 3d plane extraction

Jooung-Sun Yoo, Do-Hyeong Kim, and Gon-Woo Kim

JEET 2018 — Journal of Electrical Engineering and Technology

Cited by 13

DOI

2017

1 paper

Robust quadrilateral detection method for using rectangle feature

Eun-Sung Yang and Gon-Woo Kim

URAI 2017 — International Conference on Ubiquitous Robots and Ambient Intelligence

DOI

← All research areas

Robotic Perception

Publications

2026

Efficient 3D LiDAR pattern feature extraction and descriptor computation for robust loop closure detection.​

Joint Geometry-Feature Clustering and Robust Language Association for Open-Vocabulary Gaussian Splatting

Multi-Robot Enclosure of 3D Objects by Equilateral Formation on Offset Surfaces

Real-Time Object-Centric Mapping Based on Detection, Tracking, and ORB-SLAM

Robust Vision–Language Place Recognition via Attention-Based Semantic Features and Structured Graph Descriptors.​

2025

Dynamic Object Segmentation and Removal Framework for SLAM in Dynamic Environments

Improving Pose Estimation for Visual-Inertial Odometry Using Depth Estimation Error Algorithm

Multi Sensor Aware Online LiDAR Point Cloud Distortion Correction for Precise Localization and Mapping in Agriculture Fields

Multi-Prior Feature Attention and Graph-Based Scene Representation for Reliable Vision-Language Place Recognition

Perception and Deep Reinforcement Learning-Based Local Path Planner for Autonomous Vehicles

2023

A Robust Feature Matching Strategy for Fast and Effective Visual Place Recognition in Challenging Environmental Conditions

Semantic Segmentation의 정확성 향상을 위한 가상 데이터 혼합 훈련 전략

2022

A Survey of 3D object detection method based on point cloud projection

AEC3D: An Efficient and Compact Single Stage 3D Multiobject Detector for Autonomous Driving

Fast and Accurate Deep Learning-Based Framework for 3D Multi-Object Detector for Autonomous Vehicles

Semantic Visual Place Recognition in Dynamic Urban Environment

Semantic Visual Place Recognition in Dynamic Urban Environment

2021

A Compute-Efficient Illumination Invariant Visual Place Recognition Method for Autonomous Navigation in Changing Environments

Automatic Multiple LiDAR Calibration Based on the Plane Features of Structured Environments

Online Self-Calibration of Multiple 2D LiDARs Using Line Features with Fuzzy Adaptive Covariance

2020

A Comparative Study of Recent Real-Time Semantic Segmentation Algorithms for Visual Semantic SLAM

A study on deep learning techniques fo 3D object detection

An Appearance and Viewpoint Invariant Visual Place Recognition for Seasonal Changes

Robustifying Visual Place Recognition with Semantic Scene Categorization

Visual-LiDAR based 3D object detection and tracking for embedded systems

2019

Depth Up Sampling of 3D LiDAR Data for RGB-D*

Dynamic multi-lidar based multiple object detection and tracking

Efficient ground segmentation method for fused LiDAR point clouds

Efficient LiDAR pre-processing for multiple object detection and tracking

Planar and Pole Feature Extraction Method for Pose Estimation Using 3D LiDAR in urban environment

Towards Resource Efficient, Viewpoint and Condition Invariant Visual Place Recognition System

Visual Place Recognition for Long Term Autonomy in ChangingEnvironments: A Review

2018

A Low-Level Feature Extraction Method for 3D LiDAR-based GraphSLAM in Urban Environments

Appearance based Visual Place Recognition in Changing Environmental Conditions

Efficient Ground Extraction Method for Multi 3D-LiDAR Point Clouds

Improved LiDAR-camera calibration using marker detection based on 3d plane extraction

2017

Robust quadrilateral detection method for using rectangle feature

Efficient 3D LiDAR pattern feature extraction and descriptor computation for robust loop closure detection.

Robust Vision–Language Place Recognition via Attention-Based Semantic Features and Structured Graph Descriptors.