Please refer to my Google Scholar, CV, and Research Statement (updated on 2025-03-08).
Publications
(On updating figures and meta information…)
2025



2024

Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots
Int. J. Control, Automat. Syst. (IJCAS)


DynaVINS++: Robust Visual-Inertial State Estimator in Dynamic Environments by Adaptive Truncated Least Squares and Stable State Recovery
IEEE Robot. Automat. Lett. (RA-L)

CLOi-Mapper: Consistent, Lightweight, Robust, and Incremental Mapper With Embedded Systems for Commercial Robot Services
IEEE Robot. Automat. Lett. (RA-L)

HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)

Contextrast: Contextual Contrastive Learning for Semantic Segmentation
IEEE/CVF Conf. Comput. Vis. Pattern Recognit. (CVPR)

2023

Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM
Int. J. Robot. Res. (IJRR)

(LC)²: LiDAR-Camera Loop Constraints For Cross-Modal Place Recognition
IEEE Robot. Automat. Lett. (RA-L)

X-MAS: Extremely Large-Scale Multi-Modal Sensor Dataset for Outdoor Surveillance in Real Environments
IEEE Robot. Automat. Lett. (RA-L)

TOSS: Real-time Tracking and Moving Object Segmentation for Static Scene Mapping
Proc. Int. Conf. Robot Intell. Tech. Applications (RiTA)

Enhancing Robustness of Line Tracking Through Semi-Dense Epipolar Search in Line-based SLAM
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)

ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes
Robotics: Science and Systems (RSS)

AdaLIO: Robust Adaptive LiDAR-Inertial Odometry in Degenerate Indoor Environments
Proc. Int. Conf. Ubiquit. Robot. (UR)

ORORA: Outlier-Robust Radar Odometry
IEEE Int. Conf. Robot. Automat. (ICRA)
2022

DynaVINS: A Visual-Inertial SLAM for Dynamic Environments
IEEE Robot. Automat. Lett. (RA-L)

TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans
IEEE Robot. Automat. Lett. (RA-L)

G2P-SLAM: Generalized RGB-D SLAM Framework for Mobile Robots in Low-Dynamic Environments
IEEE Access

Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D point cloud
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)

A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments
IEEE Int. Conf. Robot. Automat. (ICRA)
2021

Deep Learning-Aided Synthetic Airspeed Estimation of UAVs for Analytical Redundancy with a Temporal Convolutional Network
IEEE Robot. Automat. Lett. (RA-L)

Patchwork: Concentric Zone-Based Region-Wise Ground Segmentation With Ground Likelihood Estimation Using a 3D LiDAR Sensor
IEEE Robot. Automat. Lett. (RA-L) with IROS

State Estimation of HALE UAV With Deep Learning-Aided Virtual AOA/SSA Sensor for Analytical Redundancy
IEEE Robot. Automat. Lett. (RA-L)

ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building
IEEE Robot. Automat. Lett. (RA-L) with ICRA