John Kyungmin Jung

I am a Ph.D. candidate at DECAR research group at McGill University, specializing in robot perception and navigation under the supervision of Professor James Richard Forbes. Specifically, my research focuses on developing robust simultaneous localization and mapping (SLAM) algorithms for autonomous underwater vehicles operating in challenging environments. My work involves designing sensor fusion techniques, probabilistic mapping methods, and real-time navigation strategies to enhance the capabilities of underwater robots in complex and dynamic scenarios.

selected publications

DIVO: Continuous-time DVL-Inertial-Visual Odometry for Unmanned Underwater Vehicles

Kyungmin Jung, Angad Bajwa, Junha Yoo, and 2 more authors

2026

Bib PDF

@misc{Jung2026DIVO,
  title = {{DIVO}: Continuous-time {DVL}-Inertial-Visual Odometry for Unmanned Underwater Vehicles},
  author = {Jung, Kyungmin and Bajwa, Angad and Yoo, Junha and Bernal, Arturo Del Castillo and Forbes, James Richard},
  year = {2026},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2607.04615},
}

T-RO

An Adaptive Graduated Nonconvexity Loss Function for Robust Nonlinear Least-Squares Solutions

Kyungmin Jung, Thomas Hitchcox, and James Richard Forbes

IEEE Transactions on Robotics, 2024

DOI Bib PDF Code

@article{Jung2024Adaptive,
  author = {Jung, Kyungmin and Hitchcox, Thomas and Forbes, James Richard},
  journal = {IEEE Transactions on Robotics},
  title = {An Adaptive Graduated Nonconvexity Loss Function for Robust Nonlinear Least-Squares Solutions},
  year = {2024},
  volume = {40},
  number = {},
  pages = {4207-4221},
  keywords = {Kernel;Robots;Shape;Loss measurement;Sensitivity;Tuning;Robustness;Graduated nonconvexity (GNC);least-squares optimization;robust loss function;state estimation},
  doi = {10.1109/TRO.2024.3434169},
  organization = {IEEE},
}

ICRA

Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments

Kyungmin Jung, Thomas Hitchcox, and James Richard Forbes

In Proc. 2023 IEEE International Conference on Robotics and Automation, 2023

DOI Bib PDF Code

@inproceedings{Jung2023Performance,
  author = {Jung, Kyungmin and Hitchcox, Thomas and Forbes, James Richard},
  booktitle = {Proc. 2023 IEEE International Conference on Robotics and Automation},
  title = {Performance Evaluation of {3D} Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments},
  year = {2023},
  pages = {1105-1111},
  keywords = {Point cloud compression;Surveys;Performance evaluation;Three-dimensional displays;Image color analysis;Lasers;Detectors},
  doi = {10.1109/ICRA48891.2023.10160348},
  organization = {IEEE},
}