3D Semantic Mapping and Navigation for Robot Task Planning
Ongoing 2025 – presentSemantic 3D maps that let robots find objects and plan where to go.
Semantic Mapping
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Semantic Place Recognition for Multi-Robot Teams
Ongoing 2024 – presentRobots that share what they see to recognize places together.
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Publications
View All2026
11 papersEfficient 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
DOIJoint 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
Language-embedded Gaussian Map assisting goal-aware Robot Navigation in Indoor Environment
Phan Thanh Danh, Seon-Woo Kim, and Gon-Woo Kim
ICCAS 2026 — International Conference on Control, Automation and Systems
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
Occlusion-Aware Relational Visual Localization via 3D Gaussian Splatting in Complex Indoor Environments
Chu Ba Tuan Hoang, Phan Thanh Danh, and Gon-Woo Kim
ICCAS 2026 — International Conference on Control, Automation and Systems
Pose–LiDAR Guided Object Association for Sparse SAM Masks and Object-Aware 3D Gaussian Splatting
Hyundo Jung and Gon-Woo Kim
IJCAS 2026 — International Journal of Control, Automation and Systems Accepted
Progressive Gaussian Splat Clustering with Segment Anything
Hyundo Jung and Gon-Woo Kim
KRoC 2026 — Korea Robotics Society Annual Conference
Real-time Dense 3D Mapping via Gaussian Splatting with Object-level Optimization based on Multi-sensor Odometry and SAM
Hyundo Jung and Gon-Woo Kim
ICCAS 2026 — International Conference on Control, Automation and Systems
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
SI-Update: Single-Image Semantic 3D Gaussian Map Updating for Long-Term Indoor SceneChanges
Chu Ba Tuan Hoang, Phan Thanh Danh, and Gon-Woo Kim
SSRN — Social Science Research Network
Visual Localization in Complex Indoor Environments via Semantic-Guided 3D Gaussian Splatting
Chu Ba Tuan Hoang and Gon-Woo Kim
KRoC 2026 — Korea Robotics Society Annual Conference
2025
4 papersDynamic Object Segmentation and Removal Framework for SLAM in Dynamic Environments
Asad Wadood and Gon-Woo Kim
KRoC 2025 — Korea Robotics Society Annual Conference
Efficient Gaussian Optimization for Dense SLAM
Arman Yertayev and Gon-Woo Kim
KRoC 2025 — Korea Robotics Society Annual Conference
GG-SLAM: Gaussian Grouping과 Splatting을 이용한 객체 수준 SLAM 시스템
Hyundo Jung and Gon-Woo Kim
JKROS 2025 — Journal of Korea Robotics Society
Reinforcing Environmental Spatial Sub-Graphs with Semantic Gaussian Splatting Map and Vision-Language Model
Phan Thanh Danh and Gon-Woo Kim
IROS 2025 — IEEE/RSJ International Conference on Intelligent Robots and Systems
2024
3 papersLeveraging Object Information for Place Image Classification
Hyundo Jung and Gon-Woo Kim
KRoC 2024 — Korea Robotics Society Annual Conference
Overcoming challenges in Multi-Robot SLAM: Loop Closure Prioritization and Semantic Feature Analysis
Ehsan Ullah Khan and Gon-Woo Kim
KRoC 2024 — Korea Robotics Society Annual Conference
SLGD-Loop: A Semantic Local and Global Descriptor-Based Loop Closure Detection for Long-Term Autonomy
Saba Arshad and Gon-Woo Kim
IEEE T-ITS 2024 — IEEE Transactions on Intelligent Transportation Systems
Cited by 5
DOI2023
3 papersCollaborative Semantic Mapping for Autonomous Navigation: A Review
Ehsan Ullah Khan and Gon-Woo Kim
KRoC 2023 — Korea Robotics Society Annual Conference
Leveraging Semantics in Appearance based Loop Closure Detection for Long-Term Visual SLAM
Saba Arshad and Gon-Woo Kim
BigComp 2023 — IEEE International Conference on Big Data and Smart Computing
Cited by 3
DOISemantic Segmentation의 정확성 향상을 위한 가상 데이터 혼합 훈련 전략
Hyundo Jung and Gon-Woo Kim
KRoC 2023 — Korea Robotics Society Annual Conference
2022
6 papersA 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
DOIFast 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
DOISemantic Visual Place Recognition in Dynamic Urban Environment
Saba Arshad and Gon-Woo Kim
J. Robot. Soc. 2022 — Journal of Robotics Society
Semantic Visual Place Recognition in Dynamic Urban Environment
Saba Arshad and Gon-Woo Kim
KRoC 2022 — Korea Robotics Society Annual Conference
Semantics Aided Hierarchical Loop Closure Detection for Long Term Visual SLAM
Saba Arshad and Gon-Woo Kim
UR 2022 — International Conference on Ubiquitous Robots
2021
3 papersDeep Neural Network based Loop Closure Detection Method for Autonomous Mobile Robot Navigation in Dynamic Urban Environment
Saba Arshad and Gon-Woo Kim
KRoC 2021 — Korea Robotics Society Annual Conference
Semantics aware dynamic SLAM based on 3D MODT
Sualeh Muhammad and Gon-Woo Kim
Sensors 2021 — Sensors
Cited by 12
DOISemantics Aware Loop Closure Detection in Visual SLAM
Saba Arshad and Gon-Woo Kim
ICCAS 2021 — International Conference on Control, Automation and Systems
Cited by 2
DOI2020
4 papersA 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
DOIA study on deep learning techniques fo 3D object detection
Hoang Duy Loc and Gon-Woo Kim
KRoC 2020 — Korea Robotics Society Annual Conference
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
DOIVisual-LiDAR based 3D object detection and tracking for embedded systems
Sualeh Muhammad and Gon-Woo Kim
IEEE Access 2020 — IEEE Access
Cited by 52
DOI2019
5 papersBag of Semantic Visual Words*
Sualeh Muhammad and Gon-Woo Kim
IROS 2019 — IEEE/RSJ International Conference on Intelligent Robots and Systems
Dynamic multi-lidar based multiple object detection and tracking
Sualeh Muhammad and Gon-Woo Kim
Sensors 2019 — Sensors
Cited by 93
DOIEfficient 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
Simultaneous localization and mapping in the epoch of semantics: a survey
Sualeh Muhammad and Gon-Woo Kim
IJCAS 2019 — International Journal of Control, Automation and Systems
Cited by 74
DOI2018
1 paperTowards Semantic Loop Closure within Visual SLAM
Sualeh Muhammad and Gon-Woo Kim
UR 2018 — International Conference on Ubiquitous Robots
2017
1 paperRobust quadrilateral detection method for using rectangle feature
Eun-Sung Yang and Gon-Woo Kim
URAI 2017 — International Conference on Ubiquitous Robots and Ambient Intelligence