• Changhyun Choi, Ph.D.

Assistant Professor
Department of Electrical and Computer Engineering
University of Minnesota, Twin Cities
5-157 Keller Hall
200 Union St. SE
Minneapolis, MN 55455

Phone: +1-612-625-7870
LANGUAGE: Korean and English

Research interests

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.

Current Position

  • Teaching undergraduate and graduate courses
  • Research focusing on deep learning powered robot vision
  • Education

    Dec. 2014
  • Thesis: “Visual Object Perception in Unstructured Environments”
  • Advisor: Prof. Henrik I. Christensen
  • Thesis Committee: Prof. Dieter Fox, James M. Rehg, Irfan Essa, Anthony Yezzi
  • GPA: 4.0/4.0

  • Feb. 2008
  • Thesis: “Real-time 3D Object Pose Estimation and Tracking for Natural Landmark Based Visual Servo” (appeared in IROS'08)
  • Advisor: Prof. Sukhan Lee
  • GPA: 4.42/4.5 (Summa cum Laude)
  • Computer science specialization with an emphasis on computer vision and robotics
  • Honors & awards


  • Full financial support, including tuition and stipend, up to five years for Ph.D. study

  • 2008

  • Tuition waiver award based on academic excellence for 7 semesters
  • Research experience

      Postdoctral Associate
  • Advisor: Prof. Daniela Rus
  • Developed a novel visual verification approach for robotic assembly manipulation
  • Advanced active sensor planning for multi-robot assembly
  • Applied 3D deep learning for object grasping with soft hands

  • 2011-2014
      Graduate Research Assistant
  • Advisor: Prof. Henrik I. Christensen
  • Funding: Boeing Company
  • Designed and implemented an object pose estimation using 3D point clouds for factory assembly robots

  • May-Aug. 2012
      Student Developer
  • Organization: Point Cloud Library (PCL)
  • Designed and implemented a 3D edge extraction algorithm which detects various types of edges from geometric structure and photometric textures of a given organized scene point cloud

  • May-Aug. 2011
      Research Intern
  • Advisor: Dr. Yuichi Taguchi and Dr. Oncel Tuzel
  • Designed and implemented a voting-based pose estimation algorithm using a 3D point cloud sensor

  • 2009-2011
      Graduate Research Assistant
  • Advisor: Prof. Henrik I. Christensen
  • Funding: General Motors
  • Designed and implemented a model-based visual object tracking for the collaborative research with General Motors - Interaction and Learning for Autonomous Assembly Robots

  • Mar.-Jul. 2008
      Commissioned Research Scientist
  • Supervisor: Dr. Ig-jae Kim and Dr. Hyoung-gon Kim
  • Developed a 3D reconstruction software using Internet photos based on Noah Snavely's work
  • Developed an automatic geotagging software using Internet photos

  • 2007-2008
      Undergraduate Research Assistant
  • Designed and implemented a real-time 3D pose tracking method using KLT and SIFT keypoints
  • Partially contributed to implementing an object recognition algorithm fusing multiple visual features in a particle filter

  • Jun.-Aug. 2006
      Intern Researcher
  • Developed a hand gesture recognition system using a 3D accelerometer
  • Employed a support vector machine for gesture classification
  • Publications

    Please refer to PUBLICATIONS tab.

    Teaching Experience

    Feb.-May 2016
  • Co-designed the course materials for the graduate course focusing on self-driving vehicles and high-level autonomy.
  • Taught computer vision for autonomous driving, such as camera model, projective geometry, camera calibration, and object recognition.
  • Invited talks

    Mar. 2017
  • “Soft Manipulation with Vision”

  • Mar. 2017
  • “Soft Manipulation with Vision”

  • Feb. 2017
  • “Soft Manipulation with Vision”

  • Feb. 2017
  • “Soft Manipulation with Vision”

  • Jul. 2014
  • “Visual Object Perception in Unstructured Environments”

  • May 2014
  • “Visual Object Perception in Unstructured Environments”

  • Nov. 2013
  • “Model-based Object Pose Estimation and Tracking using 2D and 3D Visual Information”

  • Oct. 2012
  • “3D Edge Detection and Registration”

  • Aug. 2011
  • “Vision for Service Robots”

  • Oct. 2009
  • “Cognitive Vision for Efficient Scene Processing and Object Categorization in Highly Cluttered Environments”
  • Professional service

    2015, 2016
    Reviewer, IEEE Transactions on Robotics (T-RO)

    2016, 2017
    Reviewer, IEEE Robotics and Automation Letters (RA-L)

    2014, 2015
    Reviewer, International Journal of Robotics Research (IJRR)

    2015, 2016
    Reviewer, Robotics and Autonomous Systems (RAS) Journal

    2013, 2014
    Reviewer, Image and Vision Computing (IVC) Jornal

    Reviewer, IEEE International Conference on Robotics and Automation (ICRA)

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

    Tracking Chair, International Symposium on Mixed and Augmented Reality (ISMAR)