WORK EXPERIENCE

Staff Engineer, AI-Robot Group, Mechatronics Center, Samsung Electronics                                                                                                        01.2025 - Present

• Humanoid Robots Autonomous Driving

• Isaac Sim-Based Digital Twin Simulation

• Hand-Eye Calibration of Robotic Manipulators

• Visual Servoing and 6D Pose Control of Manipulators using Aruco Markers

• 3D Mechanical Design

RESEARCH EXPERIENCE

Post-dorcoral Research Fellow, Mechanical Engineering. Dep., KAIST                                                                                                                     03.2024 -12.2024

• Advisor : prof. Kyung-Soo Kim  (MSC LAB)

• SLAM, Robots, Autonomous Driving, Sensor Fusion, Mechatronics

EDUCATION

Ph.D., School of Electrical Engineering (Division of Future Vehicle)                                                                                                                           09.2019 - 02.2024

• Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea

• Thesis : Research on Vector Map SLAM for Autonomous Driving via Camera and 4D Radar

• Advisor : prof. Kyung-Soo Kim (MSC LAB)

M.S, School of Electrical Engineering (Division of Future Vehicle)                                                                                                                               09.2017 - 08.2019

• Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea

• Thesis : A Study on Self-Energizing Clutch for Hybrid Engine Start using Driving Inertia of the Vehicle

• Advisor : prof. Kyung-Soo Kim (MSC LAB)

B.S, Mechanical Engineering                                                                                                                                                                                                                 03.2013 - 08.2017

• Sogang University, Seoul, Republic of Korea

• Cum Laude

INTERNATIONAL JOURNALS

• (Under Review) Seunghoon Yang*, Minseong Choi*, Seungho Han, Keun Ha Choi and Kyung-Soo Kim. "RoadCode: VectorMap-Based Loop Detection Descriptor via Semantic Road Mapping Using SAM2", IEEE Sensors Journal, 2025 (*: equal contribution). [paper]

• (Under Review) Seungho Han, Seunghoon Yang and Minseong Choi†. "Fast Superquaric Potential Function for Collision Avoidance of Autonomous Vehicle", IEEE Access, 2025 (†: corresponding author). [paper]

• (Under Review) Minseong Choi*, Seungho Han*, Jeonguk Kang, Seunghoon Yang, Minyoung Lee, Keun Ha Choi and Kyung-Soo Kim. "4D Radar and Camera Based Vector Map SLAM Using Dynamic Object Removal Mask", IEEE Transactions on Intelligent Vehicles, 2024 (*: equal contribution).  [paper] / [video]

• Minseong Choi, Seunghoon Yang, Seungho Han, Minyoung Lee, Keun Ha Choi and Kyung-Soo Kim. "MSC-RAD4R: ROS-Based Automotive Dataset With 4D Radar", IEEE Robotics and Automation Letters, 2023. [paper] / [video] / [homepage]

• Minseong Choi, Kyunghwan Choi, Minsu Cho, Minyoung Lee and Kyung-Soo Kim. "Chattering Reduction of Sliding Mode Control via Nonlinear Disturbance Observer for Anti-lock Braking System and Verification With CarSim SImulation", International Journal of Automotive Technology (IJAT), 2023. [paper]

• Seunghoon Yang*, Minseong Choi*, Seungho Han, Keun Ha Choi and Kyung-Soo Kim. "4D Radar-Camera Sensor Fusion for Robust Vehicle Pose Estimation in Foggy Environments", IEEE Access, 2023 (*: equal contribution).  [paper]

• Hyun-Yong Jeon, Minseong Choi, Yeongseok Lee, Sangyoon Oh, Seunghoon Yang, Keun Ha Choi and Kyung-Soo Kim. "POW4R: POint-Wise full-velocity estimation using 4d Radar-camera fusion beyond radial limitations", IEEE Robotics and Automation Letters, 2025.  [paper]

• Seungho Han, Minseong Choi, Byeonggwan Jang, Keun Ha Choi and Kyung-Soo Kim. "Adaptive ROI for Collision Warning Mitigation Based on Road Geometry and Kinematics", IEEE  Sensors Journal, 2025.  [paper]

• Seungho Han, Minseong Choi, et al. "Dynamic Control and Simulation of Leader-Follower Vehicle Formation Considering Vehicle Stability", International Journal of Control, Automation, and Systems (IJCAS), 2023.  [paper]

• Sungchul Hong, Antyanta Bangunharcana, Jae-Min Park, Minseong Choi and Hyu-Soung Shin. "Visual SLAM-Based Robotic Mapping Method for Planetary Construction", Sensors, 2021. [paper]

INTERNATIONAL CONFERENCES

• Ji-Il Park*, Minseong Choi*, et al. "Development of ROS-based Small Unmanned Platform for Acquiring Autonomous Driving Dataset in Various Places and Weather Conditions." 2022 IEEE 46th Annual Computers, Software, and Application Conference (COMPSAC). IEEE, 2022 (*: equal contribution). [paper]

• Chanho Ko, Seungho Han, Minseong Choi and Kyung-Soo Kim. "Integrated Path Planning and Tracking Control of Autonomous Vehicle for Collision Avodiance Based on Model Predictive Control and Potential Field." 2020 20th International Conference on Control, Automation and Systems (ICCAS). IEEE, 2020. [paper]

• Hyun-Bin Kim, Chanseok Kim, Byeong-Il Ham, Jeonguk Kang, Minseong Choi, Keun Ha Choi and Kyung-Soo Kim. "Development of Remote Piping Inspection System with Dual-Mode Locomotion Quadruped Robot." International Conference on Intelligence Technology and Applications (RiTA), 2024. [paper] [Best System Paper Award]

DOMESTIC CONFERENCES

• 이형진, 구덕헌, 서형태, 박지일, 최민성. "매니퓰레이터를 이용한 2D 라이다의 Point-Wise 좌표변환 기반 3차원 공간 계측.", 제어로봇시스템학회(ICROS), 2025. [paper] [학부생논문상]

• 안성진, 김차훈, 윤동건, 박지일, 최민성†, 서형태†. "다자유도 매니퓰레이터를 이용한 2D 라이다의 실시간 3차원 공간 계측.", 제어로봇시스템학회 (ICROS), 2024. [paper] [학부생논문상]

• 최민성, 최효서, 이민영, 차무현, 김경수. "ExtendedKalmanFilter 기반 Side SlipAngle 추정 및 이를 기반한 횡방향 Sliding ModeControl 설계." 한국정밀공학회 추계학술대회, 2021. [paper]

• 최민성, 최효서, 조민수, 김경수. "NonlinearDisturbanceObserver 기반 ABS 제어기 시뮬레이션 검증 및 이를 위한 실제 차량 개조." 한국자동차공학회 춘계학술대회, 2022. [paper]

• 최효서, 최민성, 박지일, 이영석, 조민수, 한승호, 양승훈, 김경수. "공군 활주로 제설작전 차량의 저속 주행환경 속도제어를 위한 시뮬레이션 검증." 한국정밀공학회 춘계학술대회, 2022. [paper]

• 양승훈, 한승호, 박지일, 조민수, 최민성, 이영석, 최효서, 김경수. "라이다를 활용한 공군 활주로 제설작전 차량 편대제어 중 장애물 충돌 방지 시스템을 위한 검증 실험." 한국정밀공학회 춘계학술대회, 2022. [paper]

• 송형주, 한승호, 최민성, 고찬호, 차무현, 김경수. "공군 활주로 제설작전 차량 무인화를 위한 동역학 모델링 및 주행성능 평가를 위한 시뮬레이션 환경구축." 대한기계학회 춘계학술대회, 2020. [paper]

PATENTS

• US-17486923 : Method and Appartus for Removing LiDAR Point Cloud Noise                                                                                                                     09.2021

• KR-10-2021-0071925 : LiDAR Point cloud Noise Removal Method and Device                                                                                                                   06.2021

• KR-10-2020-0104510 : Self-energizing Clutch Transfering Restricted Torque and Hybrid Vehicle                                                                          10.2020

RESEARCH PROJECTS

• Development of Outdoor SLAM fused with 3D LiDAR/IMU/RTK-GPS                                                                                                             05.2024 - 12.2024

        funded by Electronics and Telecommunications Research Institute (ETRI)

      - IMU-GPS quaternion based error-state kalman filter [clip]

      - 3D LiDAR odometry with IMU preintegration [clip]

      - Outdoor SLAM fused with 3D LiDAR/IMU/GPS Factor Graph Optimization 

• Development of Indoor SLAM fused with 2D LiDAR/IMU                                                                                                                                          05.2024 - 12.2024

        funded by Electronics and Telecommunications Research Institute (ETRI)

      - 2D LiDAR SLAM with IMU preintegration [clip]

• Development of Autonomous Driving Golf Cart                                                                                                                                                                06.2022 - 12.2024

        funded by Daedong Co., Ltd

      - Generated an HD map incorporating point cloud data and lane information using LIO-SAM

      - Integrated an autonomous driving system in ROS utilizing a LiDAR based tracking algorithm  [clip]

      - Proposed an EKF-based 4D radar camera fusion approach for vehicle pose estimation  [clip]

• Development of Camera-LiDAR Fusion for Desnowing                                                                                                                                                06.2022 - 12.2023

        funded by Korea Institute of Machnery and Materials (KIMM)

      - Implemented camera-LiDAR snow / rain removal system with DesnowNet and LIOR  [clip]

      - Proposed a camera-LiDAR calibration method using a tilted plate and developed a synchronized system

      - Integrated a desnowed LiDAR-camera fused SLAM system based on LOAM  [clip]

• Development of Visual Inspection Robot for Essential Service Water Piping                                                                                                03.2022 - 12.2022

        funded by Korea Hydro and Nuclear Power (KHNP) Co., Ltd

      - Developed a ROS-based sensor hardware system for visual inspection robot

      - Constructed an underwater pipeline localization system based on VINS-Fusion  [clip]

• Development of Anti-lock Braking System and Electronic Stability Control (Project Lead)                                                                 06.2020 - 12.2021

        funded by Jeju Free International City Development Center

      - Proposed a chattering-reduced robust ABS algorithm based on NDOB and SMC  [clip]

      - Conducted ESC simulation with MATLAB/Simulink and CarSim sofrware  [clip]

      - Modified real vehicle and conducted ABS experimental validation with digital signal processor

• Development of Visual SLAM Technology for Rover (Project Lead)                                                                                                                     03.2020 - 12.2021

        funded by Korea Institute of Civil Engineering and Building Technology (KICT)

      - Developed a ROS-based sensor harware system for rover

      - Constructed a visual SLAM system for dense mapping under low light environment with self-supervised stereo CNN  [clip]

• Development of Unmanned Snow Plow for Runways                                                                                                                                                    06.2019 - 12.2022

        funded by Institute of Civil-Military Technology Cooperation

      - Developed a ROS-based unmanned platform system for acquiring autonomous driving dataset

      - Conducted simulation of snow plow truck's cruise control algorithm based on TruckSim software

• Development of Hybrid Electric Vehicle Conversion Kit for Diesel Delivery Trucks                                                                                 06.2018 - 12.2020

        funded by Ministry of Land, Infrastructure and Transport

      - Proposed a self-energizing clutch for hybrid engine start using driving inertia of the vehicle

TECHNICAL SKILLS

• Programming Languages : C++, MATLAB, Python, PyTorch

• Tools and Frameworks : Robot Operating System (ROS1/2), Digital Signal Processing (DSP), CarSim

• Mechanical Design Tools : SolidWorks, SolidEdge, AutoCAD

• Etc : Word, PowerPoint, Excel, Latex, GitHub, Windows, Ubuntu