I rarely update this page. Please refer to my Google Scholar and CV.

Selected Publications

2026
Towards Zero-Shot Point Cloud Registration Across Diverse Scales, Scenes, and Sensor Setups
Towards Zero-Shot Point Cloud Registration Across Diverse Scales, Scenes, and Sensor Setups
Hyungtae Lim*, Minkyun Seo*, Luca Carlone, and Jaesik Park
Paper Code -
DreamWaQ++: Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning
DreamWaQ++: Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning
I Nahrendra, Byeongho Yu, Minho Oh, Dongkyu Lee, Seunghyun Lee, Hyeonwoo Lee, Hyungtae Lim, and Hyun Myung
IEEE Trans. Robot. (T-RO)
Paper Video
2025
Multi-Mapcher: Loop Closure Detection-Free Heterogeneous LiDAR Multi-Session SLAM Leveraging Outlier-Robust Registration for Autonomous Vehicles
Multi-Mapcher: Loop Closure Detection-Free Heterogeneous LiDAR Multi-Session SLAM Leveraging Outlier-Robust Registration for Autonomous Vehicles
Hyungtae Lim, Daebeom Kim, and Hyun Myung
IEEE Trans. Intell. Veh. (T-IV)
Paper Code -
VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold
VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold
Dominic Maggio*, Hyungtae Lim*, and Luca Carlone
Conf. Neural Information Processing System (NeurIPS)
Paper Code -
LVI-Q: Robust LiDAR-Visual-Inertial-Kinematic Odometry for Quadruped Robots Using Tightly-Coupled and Efficient Alternating Optimization
LVI-Q: Robust LiDAR-Visual-Inertial-Kinematic Odometry for Quadruped Robots Using Tightly-Coupled and Efficient Alternating Optimization
Kevin Christiansen Marsim, Minho Oh, Byeongho Yu, Seungjae Lee, I Made Aswin Nahrendra, Hyungtae Lim, and Hyun Myung
IEEE Robot. Automat. Lett. (RA-L)
Paper Video
BUFFER-X: Towards Zero-Shot Point Cloud Registration in Diverse Scenes
BUFFER-X: Towards Zero-Shot Point Cloud Registration in Diverse Scenes
Minkyun Seo*, Hyungtae Lim*, Kanghee Lee, Luca Carlone, and Jaesik Park
IEEE Int. Conf. Comput. Vis. (ICCV) (Highlight)
Paper Code - Video
SaWa-ML: Structure-Aware Pose Correction and Weight Adaptation-Based Robust Multi-Robot Localization
SaWa-ML: Structure-Aware Pose Correction and Weight Adaptation-Based Robust Multi-Robot Localization
Junho Choi, Kihwan Ryoo, Jeewon Kim, Taeyun Kim, Eungchang Lee, Myeongwoo Jeong, Kevin Christiansen Marsim, Hyungtae Lim, and Hyun Myung
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)
Paper Video
MambaGlue: Fast and Robust Local Feature Matching With Mamba
MambaGlue: Fast and Robust Local Feature Matching With Mamba
Kihwan Ryoo, Hyungtae Lim, and Hyun Myung
IEEE Int. Conf. Robot. Automat. (ICRA)
Paper Code -
KISS-Matcher: Fast and Robust Point Cloud Registration Revisited
KISS-Matcher: Fast and Robust Point Cloud Registration Revisited
Hyungtae Lim, Daebeom Kim, Gunhee Shin, Jingnan Shi, Ignacio Vizzo, Hyun Myung, Jaesik Park, and Luca Carlone
IEEE Int. Conf. Robot. Automat. (ICRA)
Paper Code -
2024
Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots
Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots
Hyungtae Lim, Minho Oh, Seungjae Lee, Seunguk Ahn, and Hyun Myung
Int. J. Control, Automat. Syst. (IJCAS)
Paper
GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting
GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting
Daehan Lee, Hyungtae Lim, and Soohee Han
IEEE Robot. Automat. Lett. (RA-L)
Paper Code - Video
DynaVINS++: Robust Visual-Inertial State Estimator in Dynamic Environments by Adaptive Truncated Least Squares and Stable State Recovery
DynaVINS++: Robust Visual-Inertial State Estimator in Dynamic Environments by Adaptive Truncated Least Squares and Stable State Recovery
Seungwon Song, Hyungtae Lim, Alex Junho Lee, and Hyun Myung
IEEE Robot. Automat. Lett. (RA-L)
Paper
CLOi-Mapper: Consistent, Lightweight, Robust, and Incremental Mapper With Embedded Systems for Commercial Robot Services
CLOi-Mapper: Consistent, Lightweight, Robust, and Incremental Mapper With Embedded Systems for Commercial Robot Services
DongKi Noh, Hyungtae Lim, Gyuho Eoh, Duckyu Choi, Jeong-Sik Choi, Hyunjun Lim, Seung-Min Baek, and Hyun Myung
IEEE Robot. Automat. Lett. (RA-L)
Paper
HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors
HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors
Hyungtae Lim*, Seoyeon Jang*, Benedikt Mersch, Jens Behley, Hyun Myung, and Cyrill Stachniss
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)
Paper Project Page
Contextrast: Contextual Contrastive Learning for Semantic Segmentation
Contextrast: Contextual Contrastive Learning for Semantic Segmentation
Changki Sung, Wanhee Kim, Jungho An, Wooju Lee, Hyungtae Lim†, and Hyun Myung†
IEEE/CVF Conf. Comput. Vis. Pattern Recognit. (CVPR)
Paper
Object-Aware Domain Generalization for Object Detection
Object-Aware Domain Generalization for Object Detection
Wooju Lee, Dasol Hong, Hyungtae Lim†, and Hyun Myung†
Annual AAAI Conf. Artif. Intell. (AAAI)
Paper Code -
2023
Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM
Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM
Hyungtae Lim, Beomsoo Kim, Daebeom Kim, Eungchang Mason Lee, and Hyun Myung
Int. J. Robot. Res. (IJRR)
Paper
(LC)²: LiDAR-Camera Loop Constraints For Cross-Modal Place Recognition
(LC)²: LiDAR-Camera Loop Constraints For Cross-Modal Place Recognition
Alex Junho Lee, Seungwon Song, Hyungtae Lim, Wooju Lee, and Hyun Myung
IEEE Robot. Automat. Lett. (RA-L)
Paper Code -
X-MAS: Extremely Large-Scale Multi-Modal Sensor Dataset for Outdoor Surveillance in Real Environments
X-MAS: Extremely Large-Scale Multi-Modal Sensor Dataset for Outdoor Surveillance in Real Environments
DongKi Noh, Changki Sung, Teayoung Uhm, WooJu Lee, Hyungtae Lim, Jaeseok Choi, Kyuewang Lee, Dasol Hong, Daeho Um, Inseop Chung, Hochul Shin, MinJung Kim, Hyoung-Rock Kim, SeungMin Baek, and Hyun Myung
IEEE Robot. Automat. Lett. (RA-L)
Paper Code -
TOSS: Real-time Tracking and Moving Object Segmentation for Static Scene Mapping
Seoyeon Jang, Minho Oh, Byeongho Yu, I Made Aswin Nahrendra, Seungjae Lee, Hyungtae Lim, and Hyun Myung
Proc. Int. Conf. Robot Intell. Tech. Applications (RiTA) (Best Paper Award)
Paper
Enhancing Robustness of Line Tracking Through Semi-Dense Epipolar Search in Line-based SLAM
Enhancing Robustness of Line Tracking Through Semi-Dense Epipolar Search in Line-based SLAM
Dong-Uk Seo, Hyungtae Lim, Eungchang Mason Lee, Hyunjun Lim, and Hyun Myung
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)
Paper
ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes
Hyungtae Lim, Lucas Nunes, Benedikt Mersch, Xieyuanli Chen, Jens Behley, Hyun Myung, and Cyrill Stachniss
Robotics: Science and Systems (RSS)
Paper Code - Video
AdaLIO: Robust Adaptive LiDAR-Inertial Odometry in Degenerate Indoor Environments
AdaLIO: Robust Adaptive LiDAR-Inertial Odometry in Degenerate Indoor Environments
Hyungtae Lim, Daebeom Kim, Beomsoo Kim, and Hyun Myung
Proc. Int. Conf. Ubiquit. Robot. (UR)
Paper
ORORA: Outlier-Robust Radar Odometry
ORORA: Outlier-Robust Radar Odometry
Hyungtae Lim, Kawon Han, Gunhee Shin, Giseop Kim, Songcheol Hong, and Hyun Myung
IEEE Int. Conf. Robot. Automat. (ICRA)
Paper Code - Video
2022
DynaVINS: A Visual-Inertial SLAM for Dynamic Environments
DynaVINS: A Visual-Inertial SLAM for Dynamic Environments
Seungwon Song, Hyungtae Lim, Alex Junho Lee, and Hyun Myung
IEEE Robot. Automat. Lett. (RA-L)
Paper Code - Video
TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans
TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans
Minho Oh*, Euigon Jung*, Hyungtae Lim, Wonho Song, Sumin Hu, Eungchang Mason Lee, Junghee Park, Jaekyung Kim, Jangwoo Lee, and Hyun Myung
IEEE Robot. Automat. Lett. (RA-L)
Paper Code - Video
G2P-SLAM: Generalized RGB-D SLAM Framework for Mobile Robots in Low-Dynamic Environments
G2P-SLAM: Generalized RGB-D SLAM Framework for Mobile Robots in Low-Dynamic Environments
Seungwon Song, Hyungtae Lim, and Hyun Myung
IEEE Access
Paper Video
Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D point cloud
Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D point cloud
Seungjae Lee*, Hyungtae Lim*, and Hyun Myung
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)
Paper Code - Video
eCDT: Event Clustering for Simultaneous Feature Detection and Tracking
eCDT: Event Clustering for Simultaneous Feature Detection and Tracking
Sumin Hu, Yeeun Kim, Hyungtae Lim, Alex Junho Lee, and Hyun Myung
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)
Paper Video
PaGO-LOAM: Robust Ground-Optimized LiDAR Odometry
PaGO-LOAM: Robust Ground-Optimized LiDAR Odometry
Dong-Uk Seo, Hyungtae Lim, Seungjae Lee, and Hyun Myung
Proc. Int. Conf. Ubiquit. Robot. (UR)
Paper Code -
A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments
A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments
Hyungtae Lim, Suyong Yeon, Soohyun Ryu, Yonghan Lee, Youngji Kim, Jaeseong Yun, Euigon Jung, Donghwan Lee, and Hyun Myung
IEEE Int. Conf. Robot. Automat. (ICRA)
Paper Code - Video
2021
Deep Learning-Aided Synthetic Airspeed Estimation of UAVs for Analytical Redundancy with a Temporal Convolutional Network
Deep Learning-Aided Synthetic Airspeed Estimation of UAVs for Analytical Redundancy with a Temporal Convolutional Network
Hyungtae Lim, Hanseok Ryu, Matthew Rhudy, Dongjin Lee, Dongjin Jang, Changho Lee, Young-min Park, Wonkeun Youn†, and Hyun Myung†
IEEE Robot. Automat. Lett. (RA-L)
Paper
Patchwork: Concentric Zone-Based Region-Wise Ground Segmentation With Ground Likelihood Estimation Using a 3D LiDAR Sensor
Patchwork: Concentric Zone-Based Region-Wise Ground Segmentation With Ground Likelihood Estimation Using a 3D LiDAR Sensor
Hyungtae Lim, Minho Oh, and Hyun Myung
IEEE Robot. Automat. Lett. (RA-L) with IROS
Paper Code - Video
State Estimation of HALE UAV With Deep Learning-Aided Virtual AOA/SSA Sensor for Analytical Redundancy
State Estimation of HALE UAV With Deep Learning-Aided Virtual AOA/SSA Sensor for Analytical Redundancy
Wonkeun Youn*, Hyungtae Lim*, Hyoung Sik Choi, Matthew B. Rhudy, Hyeok Ryu, Sungyug Kim, and Hyun Myung
IEEE Robot. Automat. Lett. (RA-L)
Paper
ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building
ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building
Hyungtae Lim, Sungwon Hwang, and Hyun Myung
IEEE Robot. Automat. Lett. (RA-L) with ICRA
Paper Code - Video
Low-level Pose Control of Tilting Multirotor for Wall Perching Tasks Using Reinforcement Learning
Low-level Pose Control of Tilting Multirotor for Wall Perching Tasks Using Reinforcement Learning
Hyungyu Lee, Myeongwoo Jeong, Chanyoung Kim, Hyungtae Lim, Changgue Park, Sungwon Hwang, and Hyun Myung
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)
Paper
REAL: Rapid Exploration With Active Loop-Closing Toward Large-Scale 3D Mapping Using UAVs
REAL: Rapid Exploration With Active Loop-Closing Toward Large-Scale 3D Mapping Using UAVs
Eungchang Mason Lee, Junho Choi, Hyungtae Lim, and Hyun Myung
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)
Paper Video
2020
MSDPN: Monocular Depth Prediction With Partial Laser Observation Using Multi-stage Neural Networks
MSDPN: Monocular Depth Prediction With Partial Laser Observation Using Multi-stage Neural Networks
Hyungtae Lim, Hyeonjae Gil, and Hyun Myung
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)
Paper
2019
RONet: Real-Time Range-Only Indoor Localization via Stacked Bidirectional LSTM with Residual Attention
RONet: Real-Time Range-Only Indoor Localization via Stacked Bidirectional LSTM with Residual Attention
Hyungtae Lim, Changgue Park, and Hyun Myung
IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)
Paper