Conference

[1]. Janghun Hyeon; Joohyung Kim; Nakju Doh*, "Pose Correction for Highly Accurate Visual Localization in Large-scale Indoor Spaces." International Conference on Computer Vision(ICCV), 2021. DOWN

[1] . Janghun Hyeon; Dongwoo Kim; Bumchul Jang; Hyunga Choi; Dong Hoon Yi; Kyungho Yoo; Jeongae Choi; Nakju Doh*, "KR-Net: A Dependable Visual Kidnap Recovery Network for Indoor Spaces," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.  DOWN

[2]. Gunhee Koo, Janghyeon Kang, Bumchul Jang, and Nakju Lett Doh*, "Analytic Plane Covariances Construction for Precise Planarity-Based Extrinsic Calibration of Camera and LiDAR," 2020 IEEE International Conference on Robotics and Automation(ICRA). 2020. DOWN

[1] . Nakju Lett, Doh*, Hyunga Choi, Bumchul Jang, Sangmin Ahn, Hyojin, Jung and Sungkil Lee, "TeeVR: Spatial Template-Based Acquisition, Modeling and Rendering of Large-Scale Indoor Spaces," ACM SIGGRAPH 2019 Emerging Technologies. 2019. DOWN

[2]. Janghun Hyeon, Hyunga Choi, JooHyung Kim, Bumchul Jang, Jaehyeon Kang, and Nakju Lett Doh*, "Automatic Spatial Template Generation for Realistic 3D Modeling of Large-Scale Indoor Spaces," IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), pp.4221-4228, 2019. DOWN

[1] . Jeeho Ahn, JeongJae Park, and Nakju Lett Doh*, "Via-Point Generation for Mobile Robot Path Planning Aid using Environment Analysis and CNN-based Learning," in RCAR, April 13, 2018. Download is not available.

[1] . ChangHyun Jun, Jihwan Youn, Jongmoo Choi, G´erard Medioni, and Nakju Lett Doh*, "Convex Cut: A Realtime Pseudo-Structure Extraction Algorithm for 3D Point Cloud Data," in IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), pp.3922-3929, 2015. DOWN

[2]. HyunGi Cho, Suyong Yeon, Hyunga Choi, and Nakju Lett Doh*, "3D Pose Estimation with One Plane Correspondence using Kinect and IMU," in IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), pp.1970-1975, 2015. DOWN

[3]. Hyunga Choi, Suyong Yeon and Nakju Lett Doh*, "Detection and Utilization of Vertical Intersection in Feature-less Environment with RGB-Depth Sensor," The 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2015), pp. 537-540, 2015. DOWN

[4]. Jihyeon Kwon and Nakju Lett Doh*, "Automatic CAD-structure extraction from 3D point clouds," International Conference on Future Information & Communication Engineering (ICFICE 2015), 2015. Download is not available.

[1] . Keonyong Lee, Soo-hyun Ryu, Jaehyeon Kang, Hyunga Choi, ChangHyun Jun and Nakju Lett Doh*, "Analysis of the Reference Coordinate System used in the EKF-based SLAM," The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2014), pp. 34-38, 2014. DOWN

[1] . ChangHyun Jun, Wonpil Yu and Nakju Lett Doh*, "Issues to consider for topological indoor mapping from the robot's perspective," The Korean Society of Mechanical Engineers(KSME) 2013 Fall Conference, pp. 134-135, June 3, 2013.  DOWN

[2] . Suyong Yeon and Nakju Lett Doh*, "Observability Analysis of 2D Geometric Features using the Condition Number for SLAM Applications," The 13th International Conference on Control, Automation and Systems (ICCAS 2013). DOWN

[3] . Jihoon Kim, Soo-Hyun Ryu, Yongsop Hwang and Nakju Lett Doh*, "Preliminary Result of a Laser-Beam Scattering RGB-Depth Sensor," The 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2013), Oct.31 - Nov.2, 2013 in Ramada Plaza Jeju Hotel, Jeju, Korea. DOWN

[4] . Youngji Brigid Kim and Nakju Lett Doh*, "2D Line Segment Comparison for Prior Information Based SLAM," Korean Society for Precision Engineering(KSPE) 2013 Fall Conference, pp. 309-310, November 1, 2013. DOWN

[5] . ChangHyun Jun, Jaehyeon Kang, Suyong Yeon, Hyunga Choi and Nakju Lett Doh*, "Adjusting Point Cloud and Extracting Structure of Indoor Environment for 3D Indoor Mapping," The Institute of Electronics and Information Enginners(IEIE) 2013 Fall Conference, pp. 694-696, November 17, 2013. DOWN

[1] . Daegil Park, Keonyong Lee, Jonghui Han, Jinsung Ok and Wan Kyun Chung*, "Learning-based Autonomous Control Architecture for Unmanned Underwater Vehicle using Motivation-based Action Selection and Topography Learning," The 20th 지상무기 학술대회, Daejeon, Korea, December 13, 2012. Download is not available.

[2] . Youngmok Yun, Sooyong Yeon, Changhyun Jun, Hyung-a Choi, Jaehyun Kang, and Nakju Lett Doh*, "RANSAC-based Data Association Algorithm for the application to 3D SLAM," KROC, Gangneung, Korea, pp. 109-111, June 21 -23, 2012. Download is not available.

[1] . Keonyong Lee, Hyunga Choi, Soo-Hyun Ryu, Nakju Lett Doh*, "Dual Measurement for the Line-based EKF SLAM application of mobile robot," IEEK Summer Conference, pp. 1374-1377, Jeju, Korea, June 22 - 24, 2011. DOWN

[2] . ChangHyun Jun, Nakju Lett Doh*, "Lessons Learned from the Implementation of Vector Field Histogram in the Robot-OS framework," IEEK Summer Conference, pp. 1378-1380, Jeju, Korea, June 22 - 24, 2011. DOWN

[3] . Tae-Koo Kang, Changjoo Nam, Ung-Kyun Lee, Nakju Lett Doh*, and Gwi-Tae Park, "Development of Robotic-Crane Based Automatic Construction System for Steel Structures of High-Rise Buildings," Proceedings of the 28th ISARC, pp. 670-671, Seoul, Korea, July 1, 2011. DOWN

[4] . Jaehyeon Kang, Nakju Lett Doh*, "Performance Comparison of Polygonalization for 3D Geometric SLAM," The KSPE 2011 Spring Conference, Gyeongju, Korea, Oct. 26 - 28, 2011. DOWN

[5] . Changjoo Nam, Hyunga Choi, Nakju Lett Doh*, "Development of flexible Robot Grasper using Airbag," The KSPE 2011 Spring Conference, Gyeongju, Korea, Oct. 26 - 28, 2011. DOWN

[6] . Young Hoon Lee, ChangHyun Jun, HyungA Choi, Soo-Hyun Ryu, Nakju Lett Doh*, "The analysis of effect of observation models and data associations on the consistency of EKF SLAM," The 8th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI 2011), Nov. 23-26, 2011 in Songdo ConventiA, Incheon, Korea. DOWN

[7] . Sung-Wan Kim, Ji-Yong Lee, Doik Kim, Bum-Jae You, Nakju Lett Doh*, "Human Localization based on the fusion of Vision and Sound System," The 8th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI 2011), Nov. 23-26, 2011 in Songdo ConventiA, Incheon, Korea. DOWN

[1] . X. D. Nguyen, Nakju Lett Doh*, "A heterogeneous SLAM approach for improving map consistency". DOWN

[2] . The KSPE 2010 Spring Conference, pp. 81-82, Jeju, Korea, May 26 - 28, 2010, Sooyong Yeon, Nakju Lett Doh*, "Fast Plane Extraction using the Hierarchical Segmentation Method". DOWN

[3] . The KSPE 2010 Spring Conference, pp. 71-72, Jeju, Korea, May 26 - 28, 2010, Keonyong Lee, Nakju Lett Doh*, "Linearized measure for the SLAM application of mobile robot". DOWN

[4] . The KSPE 2010 Spring Conference, pp. 73-74, Jeju, Korea, May 26 - 28, 2010, Young Hoon Lee, Nakju Lett Doh*, "The analysis of the effect of measurement models on the consistency of EKF SLAM". DOWN

[5] . The KSPE 2010 Spring Conference, pp. 59-60, Jeju, Korea, May 26 - 28, 2010, Shang Li Yuen, Jing Fu Jin and Nakju Lett Doh*, "A system framework for evaluating Minimal Grasper in Cartesian Grasping System", The 10th International Conference on Electronics, Information, and Communication(ICEIC 2010), pp. 222-225, June 30 - July 2, Cebu, Philippines, 2010. DOWN

[6] . Nakju Lett Doh*, Keonyong Lee and Changjoo Nam, "Novel Line Representation with Consistent Second Order Statistics for SLAM Applications", The 5th International Conference on the Advanced Mechatronics(ICAM2010), pp. 253-258, Osaka, Japan , October 4-6, 2010. DOWN

[7] . Seoung Kyou Lee, Sungon Lee, Changjoo Nam and Nakju Lett Doh*, "Local Path Planning Scheme for Car-like Vehicle’s Shortest Turning Motion Using Geometric Analysis", The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010. DOWN

[8] . Taehoon Kim, Ung-Kyun Lee, Wi Sung Yoo, Sung-Hoon An, Hunhee Cho, Younghoon Lee and Nakju Lett Doh*, "Benefit/Cost Analysis of a Robot-based Construction Automation System", International Conference on Control, Automation and Systems 2010, KINTEX, Gyeonggi-do, Korea, October 27-30, 2010. DOWN

[1]. Donguk Oh, Young Hoon Lee, Ung-Kyun Lee, Nakju Lett Doh*, Hunhee Cho, and Kyung-In Kang "Performance evaluation index for comparing traditional constructin methods with a robot-based automated constructino method", The 3rd International Conference on Construction Engineering and Management, Haevichi Hotel, Jeju, Korea, May 28-29, 2009. DOWN

[2]. Seoung Kyou Lee, Seo Hyun Jeon, Soo Yong Yeon, Nakju Lett Doh*, "Novel Index for the Best Node Selection Problem and Enhanced Technique for the Node’s State Estimation", 17th Mediterranean Conference on Control & Automation, pp. 292-297, Makedonia Palace, Thessaloniki, Greece, , June 24-26, 2009. DOWN

[3]. Sooyong Yeon, Changjoo Nam, Nakju Lett Doh*, "The Self-Organizing Map for the Decision of the Number of the Plane", The 17th 지상무기 학술대회, Daejeon, Korea, September 16, 2009. Download is not available.

[4]. Keonyong Lee, Nakju Lett Doh*, "3D Line Plot for Navigation of Unmanned Underwater Vehicle Using New Geometric Framework", The 17th 지상무기 학술대회, Daejeon, Korea, September 16, 2009. Download is not available.

[5]. Young Hoon Lee, Jing Fu Jin, Changjoo Nam, Jinhyun Kim and Nakju Lett Doh*, "Development of Minimal Grasper: Preliminary result of a simple and flexible enveloping grasper", The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1779-1784, St. Louis, USA, October 11-15, 2009. DOWN

[6]. Young Hoon Lee, Changjoo Nam, Keon Yong Lee, Yuen Shang Li, Soo Yong Yeon, and Nakju Lett Doh*, "VPass: Algorithmic Compass using Vanishing Points in Indoor Environments", The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 936-941, St. Louis, USA, , October 11-15, 2009. DOWN

[7]. Changjoo Nam, Nakju Lett Doh*, "Plane extraction from 3D point clouds of Indoor Environments", The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009), pp. 692-695, Gwang Ju, Korea, October 29-30, 2009. Download is not available.

[8]. Seo-Hyun Jeon, Nakju Lett Doh*, "Robust Data Estimation for Simultaneous Localization and Mapping: a hybrid approach of H-infinite and Extended Kalman Filter", The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009), pp. 696-697, Gwang Ju, Korea, October 29-30, 2009. Download is not available.

[9]. JingFu Jin, J. Kim, Nakju Lett Doh*, "Robust Grasping Procedures using a Minimal Grasper", The KSPE 2009 Spring Conference, pp. 345-346, Daegu, Korea, October 29 - 30, 2009. DOWN

[10]. The KSPE 2009 Spring Conference, pp. 345-346, Daegu, Korea, October 29 - 30, 2009, Young Hoon Lee, Nakju Lett Doh*, "Accurate Heading Angle Information Extraction Algorithm Using Vanishing Points". DOWN

[1]. Soo-Hyun Ryu, Nakju Lett Doh*, "Shortest Path Planning for Mobile Robots in Dynamic Environments with Doors", KROC, Seoul, Korea, pp. 429-430, June 25 -27, 2008. DOWN

[2].Ju-Hong Park, Soohwan Kim, Nakju Lett Doh*, Sung-Kee Park, "Vision-Based Global Localization Using Visual Features", International Conference on Control, Automation and Systems, Seoul, Korea, Oct. 14-17, 2008. DOWN

[3]. Soo-Hyun Ryu, Young-Hoon Lee, Yeonsik Kang, Bum-Jae You, Nakju Lett Doh*, "Time-Suboptimal Real Time Path Planner for a Humanoid Robot Under Linear Motion Constraint", International Conference on Ubiquitous Robots and Ambient Intelligence, Seoul, Korea. DOWN

[4]. S. H. Jeon, S. K. Lee, Nakju Lett Doh*, "Architecture of an Unmanned Underwater Vehicle Simulator", International Conference on Ubiquitous Robots and Ambient Intelligence, Seoul, Korea. DOWN

[1]. Nakju Lett Doh*, Kyungmin Lee, and Wan Kyun Chung, "A Simultaneous Localization and Mapping Algorithm for Topological Maps with Dynamics," International Conference on Ubiquitous Robots and Ambient Intelligence, Pohang, Korea, Nov. 22-24, 2007. Download is not available.

[2]. Nakju Lett Doh*, Gwi-Tae Park, Kyung-In Kang, Myu-Teak Im, Dae-Hui Hong, Shin-Suk Park, Seoung-Kyou Lee, "Development of Automatic Construction System for Steel Frames of High-Rise Buildings", 한국전산공학회 Spring Conference, Seoul, Korea, pp.84-88, Apr. 12-13, 2007. DOWN

[3]. Seung-Kyou Lee, Nakju Lett Doh*, Gwi-Tae Park, Kyung-In Kang, Myo-Taek Lim, Dae-Hie Hong, Shin-Suk Park, Ung-Kyun Lee, Tae-Koo Kang, "Robotic Technologies for the Automatic Assemble of Massive Beams in High-Rise Building," International Conference on Control, Automation and Systems, Seoul, Korea, pp. 1209-1212, Oct. 17-20, 2007. DOWN

[1]. Nakju Lett Doh*, S.Na, and W.Yuh, "An efficient method for mapping and motion of mobile robots in lage environments", Summer KROS, pp. 3-8, 2006.

[2]. Kyungmin Lee, Namyoung Cho, Wan Kyun Chung, and Nakju Lett Doh*, "Topological navigation of mobile robot in corridor environment using sonar sensor", IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2760-2765, 2006. DOWN

[3]. Nakju Lett Doh*, C. Kim, S. Na, W. Yu, Y. Cho, and W. K. Chung, "A Practical Roadmap for the Path Planning of Mobile Robots in Rectilinear Environments," SICE-ICASE International Joint Conference, pp. 2022-2027, Oct. 18-20, 2006. DOWN

[1]. Nakju Lett Doh*, Wan Kyun Chung, and Youngil Youm, "Hard Contact Transition Control Laws: Three Different Approaches," Korea Automatic Control Conference, pp. e17-e20, 1999. DOWN

[2]. Nakju Lett Doh*, Gyudong Jeon, Wan Kyun Chung, and Youngil Youm, "Pre-transition phase control: three different approaches", IEEE International Conference on Robotics and Automation, pp. 2802-2807, 2000. DOWN

[3]. Minchul Kim, Nakju Lett Doh*, Wan Kyun Chung, and Youngil Youm, "Point Stabilization Scheme for the Car-Like Type Wheeled Mobile Robot," Korea Automatic Control Conference, 2000. Download is not available.

[4]. Nakju Lett Doh*, Wan Kyun Chung, and Youngil Youm, "On Hard Contact Force Control," IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1528-1533, 2000. DOWN

[5]. Youngmin Kim, Nakju Lett Doh*, Youngil Youm, and Wan Kyun Chung, "Development of Human-Mobile Communication System using ElectroOculogram Signals," IFAC Workshop on Mobile Robot Technology, pp. 250-255, 2001. DOWN

[6]. Minchul Kim, Nakju Lett Doh*, Wan Kyun Chung, and Youngil Youm, "Robust Dead-Reckoning Algorithm for a WMR using a Gyroscope and Disturbance Conditions," IEEE International Conference on Robotics and Automation, video proceeding, 2001. Download is not available.

[7]. Youngmin Kim, Nakju Lett Doh*, Youngil Youm and Wan Kyun Chung, "Development of Human-Mobile Communication System using ElectroOculogram Signals," IEEE/RSJ International Conference on Intelligent Robots and Systems, pp, 2160-2165, 2001. DOWN

[8]. Nakju Lett Doh*, Wan Kyun Chung and Youngil Youm, "Shortest Path Generation Scheme for Point-Stabilization of Car-Like Robot," International Conference on Mechatronics and Information Technology, 2001. DOWN

[9]. Nakju Lett Doh*, Howie Choset and Wan Kyun Chung, "Accurate Relative Localization using Odometry," IEEE International Conference on Robotics and Automation, pp. 1606-1612, 2003. [ The Best Student Paper Awarded, ICRA, 2003 ] DOWN

[10]. Nakju Lett Doh*, SungOn Lee, Wan Kyun Chung, SangRok Oh and BumJae Yu, "A Robust Generalized Voronoi Graph Based SLAM for Hyper Symmetric Environment," IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 218-223, 2003. DOWN

[11]. Sunghwan Ahn, Nakju Lett Doh*, KyoungMin Lee and Wan Kyun Chung, "Incremental and Robust Construction of Generalized Voronoi Graph for Mobile Guide Robot", IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3757-3762, 2003. DOWN

[12]. Nakju Lett Doh*, Wan Kyun Chung and Youngil Youm, "A Covariance Matrix Estimation Method for Position Uncertainty of the Wheeled Mobile Robot", International Conference on Control, Automation and Systems, pp. 1933-1938, 2003. DOWN

[13]. Sung-on Lee, Nakju Lett Doh*, Dong To Nguyen, Myung Hwangbo, Bum-Jae You, and Sang-Rok Oh, "Butler: A Visitor Guide Robot," International Symposium on Automation and Robotics in Construction, 2004. DOWN

[14]. Jung-Suk Lee, Nakju Lett Doh*, Wan Kyun Chung, Bum-Jae You, and Youngil Youm, "Door Detection Algorithm of Mobile Robot in Hallway using PC-camera", International Symposium on Automation and Robotics in Construction, 2004. DOWN

[15]. Nakju Lett Doh*, Kyoungmin Lee, and Wan Kyun Chung, "An Efficient Data Association Technique for Mobile Robots in Topological Maps", IEEE Technical Exhibition Based Conference on Robotics and Automation, pp. 103-104, 2004. Download is not available.

[16]. Nakju Lett Doh*, Kyoungmin Lee, Jinwook Huh, Namyoung Cho, Jung-Suk Lee, and Wan Kyun Chung, "A Robust Localization Algorithm in Topological Maps with Dynamics," IEEE International Conference on Robotics and Automation, pp. 4372-4377, 2005. DOWN

[17]. Nakju Lett Doh*,Namyoung Cho, Kyoungmin Lee, Jung-Suk Lee, SangRok Oh and Wan Kyun Chung, "A Systematic Representation of Edges in Topological Maps for Mobile Robots using Wavelet Transformation," IEEE International Conference on Robotics and Automation, pp. 2833-2838, 2005. DOWN

[18]. Sunghwan Ahn, Nakju Lett Doh*, and Wan Kyun Chung, "Robust Navigation Techniques for the GVG-based SLAM in Unstructured Environment," 16th IFAC world congress in Prague, 2005. DOWN

[19]. Nakju Lett Doh*, S.Na, W.Yuh, S.Ahn, S.Lee, W.K.Chung, D.Cho, I.Kweon, and J.Lim, "Preliminary Results on the Navigation Component of Mobile Robots: A Business-Oriented Approach," International Conference on Ubiquitous Robots and Ambient Intelligence, pp. 217-222, 2005. Download is not available.