Author

Sangwoo Jung

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Preprint Oct 2026

RoMo-GS: Efficient Online 3D Gaussian Splatting for Robot Mapping via Exposure-Integrated Motion Blur

Online 3D Gaussian Splatting (3DGS) is emerging as a practical way to build a representation for robotics applications. However, deploying it on real-world platforms exposes multiple challenges. Rapid maneuvers of a robot induce motion-blurred images, which corrupt the reconstructed geometry and cause camera pose drift...

Sang-Woo Jung, Dian Deng, Jia-Hui Fu et al. · 0 citations

Open access Oct 2026

RAGNAROK: Radar-Aided Gravity-Normalized Alignment for Robust Open Keyframe-Based Radar-Visual-Kinematic-Inertial SLAM

Legged robots offer superior mobility in unstructured environments, but reliable operation in such conditions requires robust state estimation. To address the vulnerability of proprioceptive estimators in rough terrain, recent methods have incorporated radar to provide velocity measurements. However, their limited yaw...

Hanjun Kim, Chiyun Noh, Sang-Woo Jung et al. · IEEE Robotics and Automation... · 0 citations

Jul 2026

RaDiVe: Robust 4D Radar Odometry with Distance-Bounded NDT and Velocity-Discrepancy Point Uncertainty

A velocity-discrepancy point uncertainty model is proposed that weights each input 4D radar point according to the discrepancy between its measured Doppler radial velocity and the radial velocity predicted from the estimated ego-velocity to improve accuracy and robustness of radar point-cloud registration.

Sangwoo Jung, Dongjae Lee, Chiyun Noh et al. · arXiv.org · 0 citations