Giseop Kim

2 papers indexed

arxivcs.RO2026-07-24

Mag4D-SLAM Dataset: A Repeated-Traversal Multi-Modal 4D Geomagnetic Dataset for Localization and Mapping

Bibhutibhusan Nayak, Hyoseok Ju, Giseop Kim

Geomagnetic sensing offers an infrastructure-free, absolute orientation reference that is robust to GNSS denial and visual degradation, yet no large-scale outdoor robotics dataset supports its systematic study in SLAM. Existing magnetic datasets are confined to small-scale indoor…

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arxivcs.RO2026-06-29

Self-supervised Geometry Reasoning for LiDAR Simultaneous Localization and Mapping

Jiwoo Kim, Jinwoo Lee, Woojae Shin, Giseop Kim, Hyondong Oh

LiDAR simultaneous localization and mapping (SLAM) relies on local geometric quantities such as covariances, correspondences, and surface structures. However, most existing pipelines rely on hand-crafted estimates of local geometry and use them as fixed inputs to LiDAR SLAM, whic…

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