Hyeonjae Gil

About Me

  • I am a PhD student in Mechanical Engineering at Seoul National University, advised by Prof. Ayoung Kim.
  • I am currently a visiting PhD student with the Dynamic Robot Systems Group at the Oxford Robotics Institute, hosted by Prof. Maurice Fallon.
  • Previously, I completed robotics internships and co-founded a robotics startup, focusing primarily on SLAM.

I build persistent spatial representations for embodied agents, drawing on SLAM, lifelong mapping, 3D scene understanding, and egocentric perception.

My current research explores how wearable and robotic agents can maintain geometrically grounded, semantically structured, and continuously updateable memories of dynamic environments.

Research

Selected Research

LEXI-SG system overview from monocular images to a hierarchical 3D scene graph

LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction

Builds scalable, open-vocabulary 3D scene graphs from monocular RGB by combining room-level hierarchy, feed-forward reconstruction, and factor-graph alignment.

Christina Kassab*, Hyeonjae Gil*, Matías Mattamala, Ayoung Kim, and Maurice Fallon

IEEE Robotics and Automation Letters (RA-L) · 2026

Paper Project

ELite lifelong mapping results showing changing environments across sessions

Ephemerality meets LiDAR-based Lifelong Mapping

Models map elements at multiple timescales to align sessions, reason about transient objects, and maintain an up-to-date map in dynamic environments.

Hyeonjae Gil*, Dongjae Lee*, Giseop Kim, and Ayoung Kim

IEEE International Conference on Robotics and Automation (ICRA) · 2025

Paper Code

Fieldscale thermal image rescaling method and qualitative results

Fieldscale: Locality-Aware Field-based Adaptive Rescaling for Thermal Infrared Image

Uses locality-aware two-dimensional fields to rescale raw thermal images with spatially adaptive contrast, improving visibility and downstream perception.

Hyeonjae Gil*, Myung-Hwan Jeon, and Ayoung Kim

IEEE Robotics and Automation Letters (RA-L) · 2024

Paper Code

* First author; co-first authors contributed equally.