Gihyeon Lee

Inha University, Seoul National University of Science and Technology

Papers

Total Citations

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About

Gihyeon Lee is a researcher specializing in maritime robotics, underwater localization, and autonomous navigation in challenging aquatic environments. Lee’s work addresses critical safety and operational challenges for marine robots, particularly in cluttered or hazardous waters. A key contribution is the **PoLaRIS Dataset** (2025, 9 citations), a benchmark for maritime object detection and tracking in the Pohang Canal. This dataset enables the development of robust perception systems that can identify moving ships, buoys, and other obstacles under wave-induced disturbances—essential for safe autonomous navigation. Earlier, Lee advanced underwater structure inspection with **EKF-based localization algorithms** (2012–2013, 7 combined citations), enabling crawler-type robots to accurately track their position on submerged surfaces using depth sensors and IMUs. This work solved the problem of encoder drift in underwater environments, allowing precise defect mapping on structures like dams and bridges. Lee’s research bridges the gap between perception and localization, providing foundational tools for both surface and underwater marine robotics. With a focus on real-world deployment, Lee’s contributions are directly applicable to port security, infrastructure inspection, and autonomous vessel operations.