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Autonomy and Perceptual Robotics Lab (APRL) DGIST Robotics and Mechatronics Engineering

Publications/Patents

updated Aug 22, 2026

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2026
2026InternationalConference

Streaming Dense Voxel Representations for 3D Occupancy Prediction

Venue/BookEuropean Conference on Computer Vision (ECCV)DateSep 8-12, 2026AuthorsSeokha Moon*, Janghyun Baek, Yujin Jeong, Daewon Chae, Giseop Kim, Jungbeom Lee, Jinkyu Kim†, Sunwook Choi†CollaborationKorea University, NAVER LABSNoteaccepted, to appear
ProjectPaper
Figure for Streaming Dense Voxel Representations for 3D Occupancy Prediction
2026InternationalConferenceAPRL

What Matters for Real-World Long-Horizon Robot Navigation?: An Experimental Study of Implicit Goals and Sparse Memory

Venue/Book23rd IFAC World CongressDateAug 23-28, 2026AuthorsBokeon Suh*, Hyoseok Ju, Giseop Kim†
Paper
Figure for What Matters for Real-World Long-Horizon Robot Navigation?: An Experimental Study of Implicit Goals and Sparse Memory
2026InternationalPreprintAPRL

Are Visual Place Recognition Models Recognizing Places or Conditions? Distractor-Augmented Evaluation and Condition Suppression

Venue/BookarXiv preprintDateAug 7, 2026AuthorsBeomsu Kim*, Minwoo Jung, Giseop Kim†CollaborationSNU
Paper
Distractor-augmented evaluation reveals condition-biased visual place recognition
2026InternationalConference

Learning Point Cloud Geometry as a Statistical Manifold: Theory and Practice

Venue/BookRobotics: Science and Systems (RSS)DateJul 13-17, 2026AuthorsJinwoo Lee*, Jiwoo Kim*, WooJae Shin, Giseop Kim, Hyondong Oh†CollaborationKAIST
Paper
Figure for Learning Point Cloud Geometry as a Statistical Manifold: Theory and Practice
2026DomesticConferenceAPRL

RUBIK 기반 18개 image matcher의 geometrical 강건성 및 속도-정확도 Pareto Frontier 분석

Venue/BookInstitute of Control, Robotics and Systems (ICROS)DateJul 1-4, 2026Authors김현우*, 김기섭†Notenon-archival
Figure for RUBIK 기반 18개 image matcher의 geometrical 강건성 및 속도-정확도 Pareto Frontier 분석
2026DomesticConferenceAPRL

자율주행 VLA 모델 Alpamayo 1.5의 실내 환경 거동과 네비게이션 지시 응답

Venue/BookInstitute of Control, Robotics and Systems (ICROS)DateJul 1-4, 2026Authors이아윤*, 김기섭†Notenon-archival; Undergraduate Student Paper Award
Figure for 자율주행 VLA 모델 Alpamayo 1.5의 실내 환경 거동과 네비게이션 지시 응답
2026DomesticConferenceAPRL

Floor Plan-Guided Point-to-Language Grounded Navigation

Venue/BookInstitute of Control, Robotics and Systems (ICROS)DateJul 1-4, 2026Authors이아윤*, 김기섭†
Figure for 평면도 기반 포인트−언어 그라운디드 네비게이션
2026DomesticConferenceAPRL

Venue/BookInstitute of Control, Robotics and Systems (ICROS)DateJul 1-4, 2026Authors이아윤*, 윤하경*, 박상혁*, 이민규*, 김기섭†NoteUGRP
Figure for 랑데부 브리핑: VLM 기반 의미 인식 멀티로봇 협력 탐사 기법
2026DomesticConferenceAPRL

시각-언어 모델을 활용한 미학습 환경에서의 자율주행 방법에 관한 연구

Mapless Zero-Shot Autonomous Driving with Vision-Language Models

Venue/BookInstitute of Control, Robotics and Systems (ICROS)DateJul 1-4, 2026Authors김현동*, 장재원, 김지후, 육성훈, 박준혁, 김기섭†Notenon-archival; UGRP; Undergraduate Student Paper Award
Figure for 시각-언어 모델을 활용한 미학습 환경에서의 자율주행 방법에 관한 연구
2026DomesticConferenceAPRL

루빅스 큐브 메커니즘 기반 바퀴 전환형 이동 로봇

A Wheel-Transformable Mobile Robot Based on a Rubik’s Cube Mechanism

Venue/BookInstitute of Control, Robotics and Systems (ICROS)DateJul 1-4, 2026Authors육성훈*, 김지후, 장재원, 김현동, 김기섭, 박준혁†CollaborationWEAR lab @ DGISTNotenon-archival; UGRP; Undergraduate Student Paper Award
Figure for 루빅스 큐브 메커니즘 기반 바퀴 전환형 이동 로봇
2026InternationalWorkshopAPRL

Towards Lifelong Outdoor Magnetic-Aware SLAM: A Multi-Modal Day-and-Night Geomagnetic Dataset

Venue/BookMM-SpatialAI Workshop, ICRA 2026 WSDateJun 1, 2026AuthorsBibhutibhusan Nayak*, Hyoseok Ju*, Giseop Kim†Notenon-archival
Figure for Towards Lifelong Outdoor Magnetic-Aware SLAM: A Multi-Modal Day-and-Night Geomagnetic Dataset
2026InternationalWorkshopAPRL

Two-Stage Hint–Object Alignment for Text-to-PointCloud Localization

Venue/BookMM-SpatialAI Workshop, ICRA 2026 WSDateJun 1, 2026AuthorsDoyeon Kim*, Giseop Kim†Notenon-archival
Paper
Figure for Two-Stage Hint–Object Alignment for Text-to-PointCloud Localization
2026InternationalConference

Inlier-Centric Post-Training Quantization for Object Detection Models

Venue/BookInternational Conference on Learning Representations (ICLR)DateApr 23-25, 2026AuthorsMinsu Kim*, Dongyeun Lee, Jaemyung Yu, Jiwan Hur, Giseop Kim, Junmo Kim†CollaborationKAIST
Paper
Figure for Inlier-Centric Post-Training Quantization for Object Detection Models
2026InternationalPreprintAPRL

MR.ScaleMaster: Scale-Consistent Collaborative Mapping from Crowd-Sourced Monocular Videos

Venue/BookarXiv preprintDateApr 13, 2026AuthorsHyoseok Ju*, Giseop Kim†
Paper
Figure for MR.ScaleMaster: Scale-Consistent Collaborative Mapping from Crowd-Sourced Monocular Videos
2026DomesticJournalAPRL

VLM 시대의 목표 객체 탐색을 위한 지식 융합 전략 서베이

Venue/Book한국자동차공학회 논문집InfoVol. 34, No. 1, pp. 119-131; ISSN 1225-6382; DOI 10.7467/KSAE.2026.34.1.119Authors서보건*, 김지선, 손준우, 박명옥, 김기섭†Collaborationsonnet.ai
Paper
Figure for VLM 시대의 목표 객체 탐색을 위한 지식 융합 전략 서베이
2026InternationalBookAPRL

Chapter 8: LiDAR SLAM

Venue/BookSLAM Handbook (From Localization and Mapping to Spatial Intelligence)AuthorsJens Behley, Maurice Fallon, Shibo Zhao, Giseop Kim, Ji Zhang, Fu Zhang, Ayoung Kim
Book
Figure for Chapter 8: LiDAR SLAM
2025
2025InternationalJournal

LAMP: Implicit Language Map for Robot Navigation

Venue/BookIEEE Robotics and Automation Letters (RA-L)InfoVol. 10, No. 12, pp. 12365-12372; ISSN 2377-3766; DOI 10.1109/LRA.2025.3619820AuthorsSibaek Lee*, Hyeonwoo Yu, Giseop Kim, Sunwook Choi†CollaborationSKKU, NAVER LABS
ProjectPaper
Figure for LAMP: Implicit Language Map for Robot Navigation
2025DomesticConferenceAPRL

도심환경에서의 변화에 강인한 LiDAR 위치인식 기법

Venue/Book대한전자공학회 학술대회DateNov 27-29, 2025Authors김기섭*†, 박명옥, 손준우Collaborationsonnet.ai
Paper
Figure for 도심환경에서의 변화에 강인한 LiDAR 위치인식 기법
2025InternationalWorkshopAPRL

Towards Human-Like Instruction Navigation in Real-World

Venue/BookHuman-aware Embodied AI (HEAI), IROS 2025 WSDateOct 24, 2025AuthorsJiseon Kim*, Daeun Song, Bokeon Suh, Hyoseok Ju, Yumin Lee, Xuesu Xiao, and Giseop Kim†CollaborationGeorge Mason UniversityNotenon-archival; Best Poster Award
ProjectPaper
Figure for Towards Human-Like Instruction Navigation in Real-World
2025InternationalWorkshopAPRL

Where to Fuse in the VLM Era: A Survey on Integrating Knowledge into Object Goal Navigation

Venue/BookHuman-aware Embodied AI (HEAI), IROS 2025 WSDateOct 24, 2025AuthorsBokeon Suh*, Jiseon Kim, Giseop Kim†Notenon-archival
ProjectPaper
Figure for Where to Fuse in the VLM Era: A Survey on Integrating Knowledge into Object Goal Navigation
2025InternationalWorkshopAPRL

Towards Scale-consistent Deep Monocular Visual SLAM in Indoor Environments: A Dataset and Benchmark

Venue/BookThe 15th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV), IROS 2025 WSDateOct 20, 2025AuthorsHyoseok Ju*, Giseop Kim†Notenon-archival
Project
Figure for Towards Scale-consistent Deep Monocular Visual SLAM in Indoor Environments: A Dataset and Benchmark
2025InternationalConference

2D Gaussian Splatting-based Sparse-view Transparent Object Depth Reconstruction via Physics Simulation for Scene Update

Venue/BookIEEE/CVF International Conference on Computer Vision (ICCV)DateOct 19-23, 2025AuthorsJeongyun Kim*, Seunghoon Jeong*, Giseop Kim, Myung-Hwan Jeon, Eunji Jun, Ayoung Kim†CollaborationSNU
ProjectPaper
Figure for 2D Gaussian Splatting-based Sparse-view Transparent Object Depth Reconstruction via Physics Simulation for Scene Update
2024
2024InternationalJournal

Addressing Diverging Training Costs Using BEVRestore for High-Resolution Bird's Eye View Map Construction

Venue/BookIEEE Robotics and Automation Letters (RA-L)InfoVol. 9, No. 11, pp. 10700-10707; DOI 10.1109/LRA.2024.3474477AuthorsMinsu Kim*, Giseop Kim, Sunwook Choi†CollaborationNAVER LABS
CodePaper
Figure for Addressing Diverging Training Costs Using BEVRestore for High-Resolution Bird's Eye View Map Construction
2024InternationalJournal

Narrowing Your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-Constrained LiDAR Place Recognition

Venue/BookIEEE Robotics and Automation Letters (RA-L)InfoVol. 9, No. 11, pp. 9645-9652; DOI 10.1109/LRA.2024.3440089AuthorsHogyun Kim*, Jiwon Choi, Taehu Sim, Giseop Kim, Younggun Cho†CollaborationInha Univ
ProjectPaper
Figure for Narrowing Your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-Constrained LiDAR Place Recognition
2023
2023InternationalJournal

HeLiPR: Heterogeneous LiDAR Dataset for Inter-LiDAR Place Recognition under Spatiotemporal Variations

Venue/BookThe International Journal of Robotics Research (IJRR)InfoVol. 43, No. 12, pp. 1867-1883; DOI 10.1177/02783649241242136AuthorsMinwoo Jung*, Wooseong Yang, Dongjae Lee, Hyeonjae Gil, Giseop Kim, Ayoung Kim†CollaborationSNU
ProjectPaper
Figure for HeLiPR: Heterogeneous LiDAR Dataset for Inter-LiDAR Place Recognition under Spatiotemporal Variations
2022
2022InternationalJournal

Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments

Venue/BookIEEE Transactions on Robotics (T-RO)InfoVol. 38, No. 3, pp. 1856-1874; DOI 10.1109/TRO.2021.3116424AuthorsGiseop Kim*, Sunwook Choi, Ayoung Kim†CollaborationNAVER LABS
Paper
Figure for Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments
2022InternationalJournal

OpenStreetMap-based LiDAR Global Localization in Urban Environment without a Prior LiDAR Map

Venue/BookIEEE Robotics and Automation Letters (RA-L)InfoVol. 7, No. 2, pp. 4999-5006; DOI 10.1109/LRA.2022.3152476AuthorsYounghun Cho*, Giseop Kim, Sangmin Lee, Jee-Hwan Ryu†
Paper
Figure for OpenStreetMap-based LiDAR Global Localization in Urban Environment without a Prior LiDAR Map
2020
2019
2019InternationalWorkshop

CNN-based Approach for Opti-Acoustic Reciprocal Feature Matching

Venue/BookICRA WorkshopDateMay 24, 2019AuthorsHyesu Jang*, Giseop Kim, Yeongjun Lee, Ayoung Kim†
Paper
2019InternationalJournal

1-Day Learning, 1-Year Localization: Long-term LiDAR Localization using Scan Context Image

Venue/BookIEEE Robotics and Automation Letters (RA-L)InfoVol. 4, No. 2, pp. 1948-1955; DOI 10.1109/LRA.2019.2897340AuthorsGiseop Kim*, Byungjae Park, Ayoung Kim†
Paper
Figure for 1-Day Learning, 1-Year Localization: Long-term LiDAR Localization using Scan Context Image
2018
2018InternationalWorkshop

Learning Scan Context toward Long-term LiDAR Localization

Venue/BookICRA WorkshopDateMay 25, 2018AuthorsGiseop Kim*, Byungjae Park, Ayoung Kim†
Paper