The importance of vision system in Robotics becomes more significant. Especially, in unstructured enviroments such as construction sites, the performance of vision system to recognize the surrounding environment is much lower than the level of tasks that robots can complete. With the help of commercialized 3D sensors, many robots utilize the 3D sensor as eyes, however, the accuracy and resolution of sensors are not sufficient to cover the working areas. My main research areas focuses on collaborative robotics, adaptive 3D sensing, and SLAM in structured / unstructured environment.