GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry
International Journal of Robotics Research (IJRR), 2026
Chiyun Noh
I am a Ph.D. student in Mechanical Engineering at the RPM Robotics lab, Seoul National University, advised by Prof. Ayoung Kim.
I work on SLAM, sensor fusion, and robot perception with a focus on radar, LiDAR, and quadrupedal robot systems. My goal is to develop robust perception and navigation algorithms for challenging real-world environments.
Publications
GaRLIO: Gravity enhanced Radar-LiDAR-Inertial Odometry
IEEE International Conference on Robotics and Automation (ICRA), 2025
HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM
IEEE International Conference on Robotics and Automation (ICRA), 2025
More work
Other publications and projects
Adaptive LiDAR-Radar Fusion for Outdoor Odometry Across Dense Smoke Conditions
Workshop on Radar in Robotics: Resilience from Signal to Navigation, ICRA, 2024 Best poster award
Academic timeline
Experiences
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Ph.D. Student
Seoul National University
Researching robotics, SLAM, sensor fusion, and perception.
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Visiting Researcher
ETH Zürich RSL and RAI Institute
Visiting researcher under the supervision of Prof. Marco Hutter.
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M.S. Student
Seoul National University
Completed graduate research in robotics and perception.
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Perception Unit Intern
Worked as an intern in the Perception Unit.
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B.S. in Mechanical Engineering
Seoul National University
Completed undergraduate studies in Mechanical Engineering.