Dongha Chung
PhD candidate in Mechanical Engineering, KAIST
Mobile Robotics & Intelligence Laboratory (MORIN)
Research Interests:
Mobile Robotics, Computer vision, LiDAR & visual SLAM
Contact: chungdongha@kaist.ac.kr or haetae.dongha@gmail.com
I am currently pursuing a doctoral program in the Department of Mechanical Engineering at KAIST, and I am striving to become a specialist in robotic perception. My main research focus is SLAM (Simultaneous Localization and Mapping), but I have gained various experiences during my graduate studies, constructing end-to-end systems encompassing navigation, perception, control, and planning.
Previous
2009.03 - 2015.08: B.S. in Mechanical Engineering, KAIST
2015.09 - 2017.08: M.S. in Mechanical Engineering, KAIST
2019.01 - 2020.01: Robotics Perception Engineer, Seoul Robotics
Publications
(*corresponding author)
International Journals
[6] J. Kim, C. Lee, D.Chung, Y. Cho, J.Kim*, W. Jang, and S. Park, "Field experiment of autonomous ship navigation in canal and surrounding nearshore environments," Journal of Field Robotics, vol. 42, no. 2, pp. 470-489 doi: https://doi.org/10.1002/rob.22262.
[5] C. Lee, D. Chung, J. Kim, and J. Kim*, "Nonlinear Model Predictive Control with Obstacle Avoidance Constraints for Autonomous Navigation in a Canal Environment," IEEE/ASME Transactions on Mechatronics, in press, doi: 10.1109/TMECH.2023.3312672
[4] D. Chung, J. Kim, C. Lee, and J. Kim*, "Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters," International Journal of Robotics Research, vol. 42, no. 12, pp. 1104-1114, 2023, doi: 10.1177/02783649231191145
[3] J. Kim, C. Lee, D. Chung, and J. Kim*, "Navigable Area Detection and Perception-guided Model Predictive Control for Autonomous Navigation in Narrow Waterways," IEEE Robotics and Automation Letters (RA-L), vol. 8, no. 9, pp. 5456-5463, 2023, doi: 10.1109/LRA.2023.3291949.
[2] D. Chung and J. Kim*, "Underwater visual mapping of curved ship hull surface using stereo vision," Autonomous Robots, vol. 47, pp. 109-120, 2023, doi: https://doi.org/10.1007/s10514-022-10071-8
[1] S.Hong, D. Chung, J. Kim*, Y. Kim, A. Kim, and H. Yoon, "In-water visual hull inspection using a hover-capable underwater vehicle with stereo vision," Journal of Field Robotics, vol. 36, no. 3, pp. 531-546, 2019, doi: https://doi.org/10.1002/rob.21841
International Conferences
[3] D. Chung and J. Kim*, "Pose Estimation Considering an Uncertainty Model of Stereo Vision for In-Water Ship Hull Inspection," in Proceedings of 11th IFAC Conference on Control Applications in Marine Systems (CAMS), Opatija, Croatia, Sep. 2018.
[2] S. Hong, D. Chung, and J.Kim*, "Developement of a Hover-Capable AUV System for Automated Visual Ship-Hull Inspection and Mapping," in Proceedings of MTS/IEEE OCEANS, Anchorage, USA, Sep. 2017.
[1] D. Chung, S. Hong, and J. Kim*, "Underwater Pose Estimation Relative to Planar Hull Surface Using Stereo Vision," in Proceedings of IEEE/OES International Symposium on Underwater Technology (UT), Busan, Republic of Korea, Feb. 2017.
Domestic Journals
[1] J. Park, D. Chung, J. Kim*, "자율 수주중 작업 선체 검사 자동화를 위한 AUV 기술," The Society of Naval Architects of Korea, vol. 57, issue 3, pp. 7-11, Sep. 2020.
Domestic Conferences
[9] 김종휘, 정동하, 이찬규, 김진환*, “가항영역 탐지를 통한 운하 환경에서의 자율 경로 생성”, 한국해양과학기술협의회 공동학술대회, 2023. 05.
[8] 정동하, 김종휘, 이찬규, 김진환*, “자율운항 연구를 위한 다중 센서 데이터 소개”, 한국해양과학기술협의회 공동학술대회, 2023. 05.
[7] 이찬규, 정동하, 김종휘, 조용훈, 김진환*, 최휘용, 이준식, "포항 운하에서의 자율 운항 실험을 위한 최적 경로 추종", 대한조선학회 추계학술대회, 2021.11.
[6] 김종휘, 정동하, 이찬규, 조용훈, 김진환*, 장왕석, 박세용, "포항 운하에서의 자율 운항 실험을 위한 다중 센서 융합", 한국해양공학회 추계학술대회, 2021.10.
[5] 정동하, 김진환*, "평활도 제약조건을 고려한 수중 3차원 곡면 복원 기법", 한국로봇학회 한국로봇종합학술대회, 2021.05.
[4] 정동하, 홍성훈, 김진환*, "수중 선체 상대 항법을 위한 스테레오 영상 기반의 선체 표면 상대 포즈 추정", 한국로봇학회 한국로봇종합학술대회, 횡성, 2018.01.
[3] 홍성훈, 정동하, 김진환*, 정찬익, 안성준, 이정우, "선체 수중검사 자동화 시스템 개발 및 기초 실험", 한국해양과학기술협의회 공동학술대회, 2017.04.
[2] 정동하, 홍성훈, 김진환*, "수중 로봇의 선체 상대 항법을 위한 스테레오 영상 기반의 선체 표면 법선 벡터 추정", 한국로봇학회 한국로봇종합학술대회, 평창, 2017.02.
[1] (Outstanding student paper presenting award) 정동하, 김진환*, "쿼터니언 피드백을 이용한 무인 수중 잠수정의 자세제어", 한국해양공학회 춘계학술대회, 부산, 2016.05.
Awards
Nov., 2016 - Outstanding student paper presentation award (Domestic conference [1])
Aug., 2009 - Second award in ”LG Mobile Projector Marketing Idea Contest”
Other Work Experience
Teaching Assistant, Department of Mechanical Engineering, KAIST
Fall semester, 2018 - ME401: Capstone design
Fall semester, 2018 - ME490: Programming for autonomus mobile system
Spring semester, 2018 - ME652: Mobile robotics
Fall semester, 2017 - ME251: Dynamics
Republic of Korea Marine Corps., Pohang, Gyeongsangbuk-do, Republic of Korea
May., 2011 - Feb., 2013 - Sergeant