Gwanhyeong Song

I am an M.S./Ph.D. student in Mechanical Engineering at Seoul National University and a member of the RPM Robotics Lab, advised by Prof. Ayoung Kim.

My research interests lie in robot perception, sensor calibration, 6D object pose estimation, and robot manipulation.

Portrait of Gwanhyeong Song

Publications

Calousel project teaser

Calousel: Extrinsic Calibration of Non-overlapping Multi-camera Systems from Pure Rotation

Gwanhyeong Song, Chaehyeon Song, Ayoung Kim

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

[arXiv] [Code] [Project Page] [Video]

GNSS-LiDAR-inertial state estimator teaser

Tightly-Coupled GNSS-LiDAR-Inertial State Estimator for Mapping and Autonomous Driving

Hyeonjae Gil, Dongjae Lee, Gwanhyeong Song, Seunguk Ahn, Ayoung Kim

Journal of Korea Robotics Society (JKROS), vol. 18, no. 1, pp. 72–81, 2023

[Paper]

Presentations & Projects

Traversability cost map project teaser

Learning Traversability Cost Maps with Decomposed Uncertainties via Continuous-State MEDIRL

Gwanhyeong Song, Dongjae Lee, Ayoung Kim

Late Breaking Results, IEEE International Conference on Robotics and Automation (ICRA), Vienna, Austria, 2026

[Extended Abstract]