publications

2026

1. 

   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},
   }

2024

1. 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},
   }

2023

1. 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},
   }