SLAM & State Estimation

Localization & Mapping

SAMPLE TEXT. We study simultaneous localization and mapping for robots that operate in cluttered, changing environments. Our work covers sensor fusion, loop closure under perceptual aliasing, and maps that carry semantic meaning rather than geometry alone.

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2026

13 papers

A Degeneracy-Aware Multi-Camera Visual-Inertial Odometry for Perceptually Challenging Environments

Tran Quoc Duy and Gon-Woo Kim

ICCAS 2026 — International Conference on Control, Automation and Systems

Attenuating Sensor Noise in LiDAR–Inertial Odometry for Legged Robots in Dynamic Conditions

Hoang Quoc Hung and Gon-Woo Kim

KRoC 2026 — Korea Robotics Society Annual Conference

External disturbances compensation for lidar-inertial odometry under vibration conditions on quadruped robot

Hoang Quoc Hung and Gon-Woo Kim

IEEE RAL 2026 — IEEE Robotics and Automation Letters

Cited by 1

SLAM & State Estimation

Related projects

3D Semantic Mapping and Navigation for Robot Task Planning

LiDAR-Visual-Inertial SLAM and Gaussian Splatting Mapping

Team

Gon-Woo Kim

Kim Hae Yoen

Hoang Quoc Hung

Ehsan Ullah Khan

Hyundo Jung

Tran Quoc Duy

Phuc Vinh Nguyen

In-Seok Yu

Min-Jae Lee

Publications

2026

A Degeneracy-Aware Multi-Camera Visual-Inertial Odometry for Perceptually Challenging Environments

Attenuating Sensor Noise in LiDAR–Inertial Odometry for Legged Robots in Dynamic Conditions

External disturbances compensation for lidar-inertial odometry under vibration conditions on quadruped robot

IMU-Enhanced Tightly Coupled LiDAR-Inertial Odometry for Autonomous Robots

Occlusion-Aware Relational Visual Localization via 3D Gaussian Splatting in Complex Indoor Environments

Pose–LiDAR Guided Object Association for Sparse SAM Masks and Object-Aware 3D Gaussian Splatting

Proactive Degeneracy Management in Multi-Sensor SLAM Through Temporal Prediction and Eigenvalue Optimization

Real-time Dense 3D Mapping via Gaussian Splatting with Object-level Optimization based on Multi-sensor Odometry and SAM

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

Redundancy Reduced Multi-Camera-LiDAR-Inertial Fusion via Modal Orthogonality Minimization

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

Tightly-Coupled Multi-Camera Visual-Inertial Odometry for Degraded Visual Environments

Visual Localization in Complex Indoor Environments via Semantic-Guided 3D Gaussian Splatting

2025

A Flexible Multi-camera Visual-inertial Architecture for Robust State Estimation in Challenging Scenarios

A Robust LiDAR-Inertial Multi Constraint-Based Localization for Agricultural Environments

Confidence-Aware Multi-Sensor Fusion for Robust Pose Estimation in Unstructured Environment

Dynamic Object Segmentation and Removal Framework for SLAM in Dynamic Environments

Efficient Gaussian Optimization for Dense SLAM

FusionGS-SLAM: Multiple Sensors Fusion for Localization and Real-Time Photorealistic Mapping

GG-SLAM: Gaussian Grouping과 Splatting을 이용한 객체 수준 SLAM 시스템

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

IMU noise attenuation filter for LiDAR Inertial SLAM

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

Noise Attenuation in LiDAR-Inertial Odometry for Legged Robots under Fluctuating Conditions

Reducing Scan Context Descriptor Size with Flatness-Aware LiDAR Point Filtering

Robust LiDAR-Inertial Positioning in Unstructured Environments with Uneven Terrain via Kalman-Graph Synergy

Robust Monocular Visual-Inertial Odometry for Agricultural Vehicles Based on IMU-Augmented 3D Feature Point Correction

Robust Multi-Camera Visual-Inertial Odometry for Arbitrary Configurations under Challenging Conditions

Toward Robust Visual Inertial Odometry with Arbitrarily Multiple Cameras for Challenging Conditions

Toward Specialized Learning-based Approaches for Visual Odometry: A Comprehensive Survey

디지털 트윈 환경 구축을 통한 SLAM 성능 검증

2024

Accurate Pose Estimation for Visual-Inertial Odometry in Agricultural Environment Based on Mitigating Illumination and Spatial Points

Comparison of the Orientation Estimation on Uneven Terrain Using The Extended Kalman Filter and the LSTM

Enhancing IMU Pre-integration for LiDAR Inertial Odometry Based on Extended Kalman Filter in Agricultural Environments

Fusion consistency for industrial robot navigation: An integrated SLAM framework with multiple 2D LiDAR-visual-inertial sensors

IMU Augment Tightly Coupled Lidar-Visual-Inertial Odometry for Agricultural Environments

Overcoming challenges in Multi-Robot SLAM: Loop Closure Prioritization and Semantic Feature Analysis

Performance Enhancement of Visual Slam in Dynamic Environment using YOLACT

Robust Visual-Inertial Navigation System in Dynamic Environment

SLGD-Loop: A Semantic Local and Global Descriptor-Based Loop Closure Detection for Long-Term Autonomy

2023

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

Collaborative Semantic Mapping for Autonomous Navigation: A Review

Learning Observation Model for Factor Graph Based-State Estimation Using Intrinsic Sensors

Learning Type-2 Fuzzy Logic for Factor Graph Based-Robust Pose Estimation With Multi-Sensor Fusion

Leveraging Semantics in Appearance based Loop Closure Detection for Long-Term Visual SLAM

Multi-View Tracking Based Multi-Camera SLAM for Outdoor Environment

Omni-Directional Camera and LiDAR Fusion Based Odometry with Scale Correction Optimization

Visual Inertial Odometry in Autonomous Navigation System: A Review

2022

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

Omni-directional Visual-LiDAR SLAM for Multi-Camera System

OmniVO: Toward Robust Omni Directional Visual Odometry With Multicamera Collaboration for Challenging Conditions

PanoVILD: a challenging panoramic vision, inertial and LiDAR dataset for simultaneous localization and mapping

Semantic Visual Place Recognition in Dynamic Urban Environment

Semantic Visual Place Recognition in Dynamic Urban Environment

Semantics Aided Hierarchical Loop Closure Detection for Long Term Visual SLAM

Trainable Quaternion Extended Kalman Filter with Multi-Head Attention for Dead Reckoning in Autonomous Ground Vehicles

Visual LiDAR Odometry for Multi-Camera Omni-directional System

2021

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

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