In Progress

• 과제명: GIS 데이터 기반 로봇 지도 구축 및 위치 인식

  • Name: GIS Data-Driven Robot Mapping and Localization

  • Role: Principal Investigator

  • Owner: ETRI (Electronics and Telecommunications Research Institute)

  • Period: 2026.07. ~ 2026.11.
    
    

• 과제명: 라이다 기반 해상객체 포인트 클라우드 처리 및 탐지 정밀화 기술 개발

  • Name: Development of LiDAR-Based Point Cloud Processing and Precision Detection Technology for Maritime Objects

  • Role: Principal Investigator

  • Owner: KRISO (Korea Research Institute of Ships and Ocean Engineering) & Hanwha System

  • Period: 2026.05. ~ 2026.12.
    
    

• 과제명: 디지털 트윈 기반 라이다 센서 모델링 및 고정밀 위치인식 특징점 추출 기법 연구

  • Name: A Study on Digital Twin-Based LiDAR Sensor Modeling and High-Precision Feature Extraction for Localization

  • Role: Principal Investigator

  • Owner: KRISO (Korea Research Institute of Ships and Ocean Engineering)

  • Period: 2026.05. ~ 2026.11.
    
    

• 과제명: 중대형 선박의 유연생산시스템 도입을 위한 지능형 물류 관리 기술개발

  • Name: Development of Intelligent Logistics Management Technology for Flexible Production Systems in Midium- and Large-Sized Ship

  • Role: Co-Principal Investigator

  • Organization: MTIR (Ministry of Trade, Industry and Resources)

  • Period: 2026.04. ~ 2030.12.
    
    

• 과제명: 라이다/GPS 기반 무인 수상정 정박과 출항 기술 고도화 및 수상 장애물 감지/회피 기동 기술 개발

  • Name: Advanced Autonomous Docking/Undocking and Obstacle Detection/Avoidance Maneuver Technologies for LiDAR/GPS-based USV 

  • Role: Principal Investigator

  • Owner: ETRI (Electronics and Telecommunications Research Institute)

  • Period: 2026.03. ~ 2026.08.
    
    

• 과제명: 소프트웨어중심선박 연구교육과정 개발 및 운영

  • Name: Development and Operation of a Software-Defined Ship Research and Education Program

  • Role: Co-Principal Investigator

  • Organization: MSICT (Ministry of Science and ICT)

  • Period: 2024.07. ~ 2028.12.
    
    

• 과제명: 인공지능융합혁신인재양성

  • Name: Fostering Innovative Talent in Artificial Intelligence Convergence

  • Role: Co-Principal Investigator

  • Organization: MSICT (Ministry of Science and ICT)

  • Period: 2023.03. ~ 2026.12.

Completed (at Dongguk Univ.)

• 과제명: 해상 환경 및 친환경 설비를 고려한 선박 운항 효율 향상 기술 개발

  • Name: Development of Technology for Improving Ship Operation Efficiency Considering Marine Environment and Eco-friendly Equipment 

  • Role: Principal Investigator

  • Owner: Hanwha Ocean

  • Period: 2025.04. ~ 2026.02.
    
    

• 과제명: AI 및 로봇을 활용한 조선/항공/건설 도장 공정 자동화 플랫폼 기술 개발

  • Name: Development of Platform Technology for Painting Process Automation Using AI and Robots

  • Role: Co-Principal Investigator

  • Organization: MTIR (Ministry of Trade, Industry and Resources)

  • Period: 2023.04. ~ 2025.12.
    
    

• 과제명: 자율항법을 위한 디지털 트윈쉽의 멀티모달 센서 모델링 기술분석

  • Name: Technical Analysis of Multi-modal Sensor Modeling for Digital Twin Ship in Autonomous Navigation

  • Role: Principal Investigator

  • Owner: KRISO (Korea Research Institute of Ships and Ocean Engineering)

  • Period: 2025.07. ~ 2025.11.
    
    

• 과제명: 3차원 라이다 기반 무인지게차 주변 사각 지역 대상 물체 인식 및 추적 기술개발

  • Name: Development of Object Recognition and Tracking Technology for Blind Spot Areas Around Autonomous Forklifts Based on 3D LiDAR

  • Role: Principal Investigator

  • Owner: JNE Works

  • Period: 2025.06. ~ 2025.11.
    
    

• 과제명: 실외 정밀 환경지도 구축 및 위치인식 서비스 연동을 위한 데이터 처리

  • Name: Data Processing for Building High-precision Outdoor Maps and Integrating Localization Services

  • Role: Principal Investigator

  • Owner: ETRI (Electronics and Telecommunications Research Institute)

  • Period: 2025.03. ~ 2025.05.
    
    

• 과제명: 무인지게차 주변 상황 인식을 위한 다수/다종 3차원 라이다 정합 기술개발

  • Name: Development of Advanced 3D LiDAR Registration Technology for Enhanced Situational Awareness in Autonomous Forklifts

  • Role: Principal Investigator

  • Owner: JNE Works

  • Period: 2024.06. ~ 2025.12.
    
    

• 과제명: 라이다 기반의 무인 수상정 정박 및 출항 기술 개발

  • Name: Development of LiDAR-based Wave-Adaptive Modular Vessel (WAM-V) Anchoring and Departure Technology

  • Role: Principal Investigator

  • Owner: ETRI (Electronics and Telecommunications Research Institute)

  • Period: 2024.06. ~ 2024.11.
    
    

• 과제명: 자율 주행형 선체외판 용접부 전처리 로봇 자동경로 생성기술 연구

  • Name: Study on Automatic Path Generation Technology for Autonomous Robot to Pretreat Weld Area for Ship Hull

  • Role: Principal Investigator

  • Owner: Hanwha Ocean

  • Period: 2024.03. ~ 2025.02.
    
    

• 과제명: CFD 해석 유동장 정보를 활용한 딥러닝 기반 역설계 연구

  • Name: Study on Deep Learning based Inverse Design Using CFD FlowAnalysis Information

  • Role: Principal Investigator

  • Owner: DSME (Daewoo Shipbuilding & Marine Engineering Group)

  • Period: 2023.04. ~ 2024.02.

Completed (at ETRI)

(02.2018~12.2022) Development of Core Technology of Robot Task-Intelligence for Improvement of Labor Condition

(01.2017~09.2020) Environmental Sensing to Act for a Better Quality of Life: Smart Health - EU EUREKA ITEA3 C2

1. 3D SLAM and 6 DoF global localization

   • Map standardization [ICCAS 20]

   • 3D SLAM for portable mapping system  [UR 18] [ICTC 20] [AEI 22]

   • Natural landmark-based 6 DoF global localization [IEEK 21]

2. Machine learning-based end-to-end navigation

   • Object classification for urban navigation using 3D LiDAR [Sensors 21]

   • Imitation robot navigation based on reinforcement learning [T-PAMI 22]

3. Practical navigation in the industrial field

   • Robot navigation trends in logistics and agricultural field [ETT 21]

   • LiDAR reflector based localization method [Outstanding Young Researcher Award] [ICROS 19] [ICROS 20]

(11.2014~10.2017) The Development of Robot Based Logistics Systems Applicable to Hospital-wide Environment

(07.2013~03.2015) Spatial Recognition and Navigation System for a Robot in Nuclear Power Plant

1. Multi-floor navigation in nuclear and hospital environments

   • Graph SLAM based spatial map building method [ICAR 13]

   • Sensor fusion-based radio map building method for pedestrian LBS [URAI 13]

   • Topological map and range-free pedestrian localization [CASE 15] [ACCESS 19]

   • Hierarchical localization framework [CASE-Coarse-14][SMC 14][URAI 15 ][ETRI J 19] [Inforgraphics]

   • Multi-floor localization using elevator [ICCAS 16]

   • Robot trajectories generation for an autonomous vehicle on the road [CASE-Trajectory-14]

2. Spatial Recognition

   • Multi PTS camera registration [Best Poster Award] [ICROS 15]

   • Spatial visualization for tele-operating the robots [CASE-Visualization-14]

   • Human gesture recognition [ICITCS 16]

(03.2010~06.2012) Autonomous Navigation System for a Robot Vehicle in Urban Environment

1. Robot localization in urban environments

   • Seamless localization system using vision-based lane detector [URAI 10]

   • Robot localization method using augmented-state EKF [ROBIO 10], map matching technique [SMC 11],
     pillars detector [IEEK - Localization 10].

   • Low cost localization system using low cost sensors: camera, GPS, odometer [ICAR 11][URAI - EKF 11]

2. Mapping for urban environment

   • Topological map building based on GIS information [URAI-Topo-11][IV 12]

   • Effective format of outdoor map for robot path generation [KRoC 11]

(03.2008~02.2011) Hybrid u-Robot Service System Technology for Ubiquitous City

1. Robot localization for semi-outdoor structured environment

   • EKF localization based on statistical distribution of noise parameters [RO-MAN 09]

   • Robot localization using ceiling vision sensor [ROBIO 11]

2. Mapping for indoor environment

   • Map structure of space representation for mobile robot navigation [KRoC 09]

   • Design of mapping system using laser range finder [SENSORS 09]

   • Map building for artificial landmarks based on SLAM [SMC 10]

   • Map building for evaluating the navigation performance [IEEK - Map 10]

3. Path planning

   • Safe path generation using a gradation grid map [KIPS 09]

   • Guided path planning using proximity location sensor [Outstanding Paper Award] [URAI 09]

4. Evaluation of navigation performance

   • Development of performance test method for robot navigation [KRoC 10]

5. Applications of service robot

   • Robot navigation service platform [IARP 09]

(02.2006~02.2008) 

Embedded Component Technology and Standardization for Ubiquitous Robotic Companion & USN-based Ubiquitous Robotic Space Technology

1. Evaluation of navigation performance

   • Controller design of tethered-robot guiding system [URAI – Controller 06]

   • Intuitive guiding system for robot control [RO-MAN - Intuitive 07]

   • Applications of human-robot interactive guiding system [RO-MAN - Human 07]

   • System design for tethered-robot guiding system [URAI - Tethering 06] [IJAR 09]

   • Human-In-the-Loop perception for robot navigation: Robot task control [RO-MAN 08]

2. Fast map building method

   • Map construction with sonar sensors and tethered-robot guidance system [URAI – Sonar 06]

   • Map format for mobile robots [URAI – Preliminary 06]

(02.2004~01.2006) Navigation, Simultaneous Localization and Mapping Technique for Home Service Robot

1. Localization and mapping for service robots

   • Grid-based map building based on orientation probability [URAI 04]

   • Grid-map based Localization with sonar sensor [ICS 05]

   • Feature-based map building by using grid-map association [ICRA 06]

   • EKF localization model for autonomous mobile robots [Best Paper Award] [MESA 08]

   • Grid-based map building by using a footprint association filter [MESA 07][AR 09]

2. Data modeling for sonar

   • Acoustics model of sonar to build the grid-based map [KSPE 05]

   • Sonar data filtering with grid association evaluation [KRoC 06]