Publication

Books

Introduction to Simultaneous Localization and Mapping I
Hyeonwoo Yu, 2024

Papers

2026

BayesianGS-SLAM: Uncertainty-Aware Neural Rendering SLAM via Probabilistic Formulation
Kyeongsu Kang, Seongbo Ha, Sibaek Lee, Hyeonwoo Yu, IEEE Robotics and Automation Letters (RA-L, to be presented at ICRA 2027), accepted
[arxiv] [pdf][github] [video]

Real-Time LiDAR Gaussian Splatting SLAM via Geometry-Aware Covariance Coupling
Seungjun Tak, Yewon Jeon, Jaeik Hwang, Suk Min Hwang, Seongbo Ha, Hyeonwoo Yu, European Conference on Computer Vision (ECCV 2026)
[projectPage][arxiv] [pdf] [github] [video]

TriLift: Interpolation-Free Tri-Plane Lifting for Efficient 3D Perception on Embedded Systems 
Sibaek Lee, Jiung Yeon, Hyeonwoo Yu, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026), accepted
[arxiv] [pdf] [github]

Enhancing Sim-to-Real Transfer for a High-Gear-Ratio Quadruped Robot via Extended Actuator Dynamics Identification 
Hansol Kang, Hyunyong Lee, Jiman Park, Seongwon Nam, Yeongwoo Son, Bumsu Yi, Jaeyoung Oh, Hyeonwoo Yu and Hyouk Ryeol Choi, Machines
[pdf]

Digital Twin-based Robust Viewpoint Sampling for Automated Robotic Inspection 
Yechan Seo, Jaeyoung Lee, Hyeonwoo Yu, Jong Pil Yun, Min Su Kim, Jinseok Jang, Hong-In Won, IEEE 9th International Conference on Industrial Cyber-Physical Systems (ICPS 2026)
[pdf]

3D RoA-Planner: Path Planner for Quadruped Robots in Confined Spaces Using 3D Rotatable Areas
Yeongwoo Son, Hyunyong Lee, Hansol Kang, Ji Man Park, SeongWon Nam, Bumsu Yi, JaeYoung Oh, Hyeonwoo Yu, Hyouk Ryeol Choi, IEEE Robotics and Automation Letters (RA-L)
[pdf] [video]

GSO-SLAM: Bidirectionally Coupled Gaussian Splatting and Direct Visual Odometry
Jiung Yeon, Seongbo Ha, Hyeonwoo Yu, IEEE Robotics and Automation Letters (RA-L, to be presented at IROS 2026)
[projectPage][arxiv] [pdf] [github] [video]

RUSH: Recursive and Scalable 3D Coarse To Fine Path Planning
Hwajung Lee, Daegeol Ko, Jaehyuk Hur, Junwon Lee, Seongbo Ha, Jong Hwan Ko, Hyeonwoo Yu, IEEE Robotics and Automation Letters (RA-L, to be presented at ICRA 2026)
[pdf] [video]

2025

Memory-Efficient Voxelized Renderable Neural 3D Spatial Representation for Vision-Based Robotics
Howoong Jun, Seongbo Ha, Jaewon Lee, Hyeonwoo Yu, Songhwai Oh, IEEE Robotics and Automation Letters (RA-L, to be presented at ICRA 2026)
[pdf] [video]

LAMP: Implicit Language Map for Robot Navigation
Sibaek Lee, Hyeonwoo Yu, Giseop Kim, Sunwook Choi, IEEE Robotics and Automation Letters (RA-L, to be presented at ICRA 2026)
[pdf] [video] [project page]

Spatial Coordinate Transformation for 3D Neural Implicit Mapping
Kyeongsu Kang, Seongbo Ha, Sibaek Lee, Hyeonwoo Yu, IEEE Robotics and Automation Letters (RA-L, to be presented at ICRA 2026)
[pdf] [github]

Bayesian NeRF: Quantifying Uncertainty with Volume Density for Neural Implicit Fields
Sibaek Lee, Kyeongsu Kang, Seongbo Ha, Hyeonwoo Yu, IEEE Robotics and Automation Letters (RA-L, to be presented at ICRA 2026)
[arxiv] [pdf] [github]

2024

RGBD GS-ICP SLAM
Seongbo Ha, Jiung Yeon, Hyeonwoo Yu, European Conference on Computer Vision (ECCV 2024)
[projectPage][arxiv] [pdf] [github] [video]

Renderable Street View Map-based Localization: Leveraging 3D Gaussian Splatting for Street-level Positioning
Howoong Jun, Hyeonwoo Yu, Songhwai Oh, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
[pdf] [video]

Just Flip: Flipped Observation Generation and Optimization for Neural Radiance Fields to Cover Unobserved View
Sibaek Lee, Kyeongsu Kang, Hyeonwoo Yu, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
[arxiv] [pdf] [github] [video]

Unsupervised Anomaly Detection of a Home Appliance by Monitoring EMI Data
Hyeonwoo Yu, Sangyeong Jeong, Jingook Kim, 2024 IEEE International Symposium on Electromagnetic Compatibility, Signal & Power  Integrity
[pdf]

2022

Anytime 3D Object Reconstruction Using Multi-Modal Variational Autoencoder
Hyeonwoo Yu, Jean Oh, IEEE Robotics and Automation Letters (RA-L)
[arxiv] [pdf]

2021

Anchor Distance for 3D Multi-Object Distance Estimation from 2D Single Shot
Hyeonwoo Yu, Jean Oh, IEEE Robotics and Automation Letters (RA-L)
[arxiv] [pdf]

2019

A Variational Observation Model of 3D Object for Probabilistic Semantic SLAM
HW Yu, JY Moon, BH Lee, IEEE International Conference on Robotics and Automation (ICRA 2019)
[arxiv] [pdf]

Regeneration of Normal Distributions Transform for Target Lattice Based on Fusion of Truncated Gaussian Components
Hyunki Hong, Hyeonwoo Yu, Beom-Hee Lee, IEEE Robotics and Automation Letters (RA-L)
[pdf]

Zero-shot Learning via Simultaneous Generating and Learning
Hyeonwoo Yu, Beomhee Lee, Advances in Neural Information Processing Systems (NeurIPS 2019)
[arxiv] [pdf]

2018

Terrain field SLAM and Uncertainty Mapping using Gaussian Process
Hyeonwoo Yu, Beomhee Lee, 18th International Conference on Control, Automation and Systems (ICCAS 2018)
[pdf]

A Variational Feature Encoding Method of 3D Object for Probabilistic Semantic SLAM
HW Yu, BH Lee, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
[arxiv] [pdf]

MRF-based Terrain Map Inference using Variational Feature Projection
HW Yu, BH Lee, Electronics Letters
[pdf]

2017

A Variational Approach for 3D Object Classification with Retrieval of Missing Data
HW Yu, BH Lee, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
[pdf]

A Bayesian Approach to Terrain Map Inference Based on Vibration Features
HW Yu, BH Lee, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)
[pdf]

2016

Surface Normal Smoothing for Superpixels in Noisy Depth Images
HW Yu, JD Jeon, BH Lee, Electronics Letters
[pdf]

2015

Deployment Method of UAVs with Energy Constraint for Multiple Tasks
H.S. Lee, H.W. Yoo and B.H. Lee, Electronics Letters
[pdf]