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Research Groups

Education

Ph.D., Robotics, 2014, Georgia Institute of Technology
B.S., Electrical and Computer Engineering, 2008, Sungkyunkwan University, South Korea

Professional Background

Visual perception for robotic manipulation with a focus on deep learning for object grasping and assembly manipulation, soft manipulation, object pose estimation, visual tracking, and active perception.

Teaching Subjects

• EE 5940 Robot Vision
• EE 2361 Introduction to Microcontrollers

Honors and Awards

Best Reviewer Award, IEEE International Conference on Robotics and Automation (ICRA), 2017
Graduate Study Abroad Scholarship, Korea Foundation for Advanced Studies (KFAS), 2008-2013
Summa cum Laude, highest honor in engineering, Sungkyunkwan University, 2008

Selected Publications

Journal Articles

Changhyun Choi, Henrik I. Christensen, “RGB-D Object Pose Estimation in Unstructured Environments,” Robotics and Autonomous Systems, Jan. 2016.

Mehmet Dogar, Ross A. Knepper, Andrew Spielberg, Changhyun Choi, Henrik I. Christensen, Daniela Rus, “Multi-Scale Assembly with Robot Teams,” International Journal of Robotics Research (IJRR), Jul. 2015.

Changhyun Choi, Henrik I. Christensen, “Robust 3D visual tracking using particle filtering on the special Euclidean group: A combined approach of keypoint and edge features,” International Journal of Robotics Research (IJRR), vol. 31, no. 4, pp. 498-519, Apr. 2012.

Refereed Conference Papers

Liam Paull, Jacopo Tani, Heejin Ahn, Javier Alonso-Mora, Luca Carlone, Michal Cap, Yu Fan Chen, Changhyun Choi, Jeff Dusek, Yajun Fang, Daniel Hoehener, Shih-Yuan Liu, Michael Novitzky, Igor Franzoni, Okuyama, Jason Pazis, Guy Rosman, Valerio Varricchio, Hsueh-Cheng Wang, Dmitry Yershov, Hang Zhao, Michael Benjamin, Christopher Carr, Maria Zuber, Sertac Karaman, Emilio Frazzoli, Domitilla Del Vecchio, Daniela Rus, Jonathan How, John Leonard, Andrea Censi, “Duckietown: an Open, Inexpensive and Flexible Platform for Autonomy Education and Research”, IEEE International Conference on Robotics and Automation (ICRA), 2017.

Changhyun Choi, Joseph DelPreto, Daniela Rus, “Using Vision for Pre- and Post-grasping Object Localization for Soft Hands,” in Proceedings of International Symposium on Experimental Robotics (ISER), Tokyo, Japan, 2016.

Changhyun Choi, Daniela Rus, “Probabilistic Visual Verification for Robotic Assembly Manipulation,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.

Mehmet Dogar, Ross A. Knepper, Andrew Spielberg, Changhyun Choi, Henrik I. Christensen, Daniela Rus, “Towards Coordinated Precision Assembly with Robot Teams,” in Proceedings of International Symposium on Experimental Robotics (ISER), Marrakech and Essaouira, Morocco, 2014.

Changhyun Choi, Henrik I. Christensen, “RGB-D Object Tracking: A Particle Filter Approach on GPU,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo Big Sight, Japan, 2013.

Changhyun Choi, Alexander J. B. Trevor, Henrik I. Christensen, “RGB-D Edge Detection and Edge-based Registration,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo Big Sight, Japan, 2013.