Publications

NOTE: publications are sorted in time order, all bib files are found here.

Dissertations

LiDAR-based Lifelong Robotic Mapping in Changing Environments

       Giseop Kim
       Advised by Dr. Ayoung Kim and Dr. Youngchul Kim
       Ph.D., CEE, KAIST, 2022 — Thesis (TBA), Defence presentation material

Isovist-induced Robust LiDAR Localization

       Giseop Kim
       Advised by Dr. Ayoung Kim
       M.S., CEE, KAIST, 2019 — Thesis

Journals

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

       Younghun Cho, Giseop Kim, Sang-min Lee, and Jee-Hwan Ryu
       IEEE Robotics and Automation Letters, 2022 (with ICRA 2022) — Paper, Video
       tldr: "No need to visit places in advance to localize a robot"

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

       Giseop Kim, Sunwook Choi$^{†}$, Ayoung Kim. (†: joint work with NAVER LABS)
       IEEE Transactions on Robotics, accepted, 2021 — Paper, Video, Code (TBA)
       tldr: "An Improved LiDAR Place Recognition"

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

       Giseop Kim, Byungjae Park$^{†}$, Ayoung Kim. (†: joint work with ETRI)
       IEEE Robotics and Automation Letters, 2019 (with ICRA 2019) — Paper, Video, Slide
       tldr: "Classification-based Long-term LiDAR Localization"

A new 3D space syntax metric based on 3D isovist capture in urban space using remote sensing technology

       Giseop Kim, Ayoung Kim, Youngchul Kim$^{†}$. (†: joint work with KAIST Urban Design Lab)
       Computer, Environment and Urban Systems, 2019 — Paper (online)
       tldr: "LiDAR-based Urban Site Analysis"

Conferences

LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping

       Giseop Kim, Ayoung Kim.
       ICRA 2022 — Paper, Code, Videos (demo, , tutorial, presentation)
       tldr: "Automatic LiDAR Map Management"

SC-LiDAR-SLAM: a Front-end Agnostic Versatile LiDAR SLAM System

       Giseop Kim, Seungsang Yun, Jeongyun Kim, and Ayoung Kim.
       ICEIC 2022 — Paper, Video, Poster
       tldr: "A set of Open source LiDAR SLAM systems."

Remove, then Revert: Static Point cloud Map Construction using Multiresolution Range Images

       Giseop Kim, Ayoung Kim.
       IROS 2020 — Paper, Code, Video
       tldr: "Remove Dynamic Points in the Wild"

MulRan: Multimodal Range Dataset for Urban Place Recognition

       Giseop Kim, Yeong Sang Park, Younghun Cho, Jinyong Jeong, Ayoung Kim.
       ICRA 2020 — Paper, Dataset website, Code (radar place recognition), Video
       tldr: "LiDAR+Radar SLAM Dataset and Radar Place Recognition"

Unsupervised Geometry-Aware Deep LiDAR Odometry

       Younggun Cho, Giseop Kim, Ayoung Kim.
       ICRA 2020 — Paper, Video
       tldr: "Learning LiDAR Odometry without Ground-truth"

Scan Context: Egocentric Spatial Descriptor for Place Recognition within 3D Point Cloud Map

       Giseop Kim, Ayoung Kim.
       IROS 2018 — Paper, Code, Video
       tldr: "A LiDAR Place Recognition: Robust, Fast, and Versatile"

Workshops

CNN-based Approach for Opti-Acoustic Reciprocal Feature Matching

       Hyesu Jang, Giseop Kim, Yeongjun Lee$^{†}$, Ayoung Kim. (†: joint work with KRISO)
       ICRA 2019 Workshop on Underwater Robotics Perception — Paper
       tldr: "A preliminary report of the KRoS20 paper"

Learning Scan Context toward Long-term LiDAR Localization

       Giseop Kim, Byungjae Park$^{†}$, Ayoung Kim. (†: joint work with ETRI)
       ICRA 2018 Workshop on Long-term autonomy (won the Best paper award) — Paper
       tldr: "A preliminary report of the RAL19 paper"

Domestic (Korean)

CNN-based Opti-Acoustic Transformation for Underwater Feature Matching

       Hyesu Jang, Yeongjun Lee$^{†}$, Giseop Kim, Ayoung Kim. (†: joint work with KRISO)
       Journal of Korea Robotics Society 2020 (Special Issue: Underwater Robotics) — Paper (online)
       tldr: "Camera-sonar style transfer-based multimodal matching"