CV

  • 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
USA

Phone: +1-612-625-7870
EMAIL:
URL: http://www.ece.umn.edu/~cchoi
NATIONALITY: Korean
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

2018-present
  • 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

    2017

    2008-2013
  • Full financial support, including tuition and stipend, up to five years for Ph.D. study

  • 2008

    2000-2007
  • Tuition waiver award based on academic excellence for 7 semesters
  • Research experience

    2014-2017
      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-instructor
  • 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

    2012-present
    Reviewer, IEEE International Conference on Robotics and Automation (ICRA)

    2010-present
    Reviewer, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

    2012
    Tracking Chair, International Symposium on Mixed and Augmented Reality (ISMAR)