Publications

JOURNAL ARTICLES
Changhyun Choi, Wilko Schwarting, Joseph DelPreto, and Daniela Rus, “Learning Object Grasping for Soft Robot Hands”, IEEE Robotics and Automation Letters (RA-L), vol. 3, no. 3, pp. 2370-2377, Jul. 2018. [ pdf | slides | poster | project page ]

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

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. [ abstract | pdf | project page ]

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. [ abstract | pdf | project page ]

REFEREED CONFERENCE PAPERS
Guy Rosman, Changhyun Choi, Mehmet Dogar, John W. Fisher III, Daniela Rus, “Task-specific Sensor Planning for Robotic Assembly Tasks,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), May, 2018. [ pdf | project page ]

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, Oct, 2016. [ pdf | slides | project page ]

Changhyun Choi, Daniela Rus, “Probabilistic Visual Verification for Robotic Assembly Manipulation,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), May, 2016. [ pdf | project page ]

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. [ pdf | project page ]

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. [ pdf | project page ]

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. [ pdf | project page ]

Changhyun Choi, Henrik I. Christensen, “3D Pose Estimation of Daily Objects Using an RGB-D Camera,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vila Moura, Algarve, Portugal, 2012. [ pdf | project page ]

Changhyun Choi, Henrik I. Christensen, “3D Textureless Object Detection and Tracking: An Edge-based Approach,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vila Moura, Algarve, Portugal, 2012. [ pdf | project page ]

Changhyun Choi, Yuichi Taguchi, Oncel Tuzel, Ming-Yu Liu, and Srikumar Ramalingam, “Voting-Based Pose Estimation for Robotic Assembly Using a 3D Sensor,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, USA, 2012. [ pdf | project page ]

Changhyun Choi, Henrik I. Christensen, “Robust 3D Visual Tracking Using Particle Filtering on the SE(3) Group,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 2011. [ pdf | project page ]

Changhyun Choi, Henrik I. Christensen, “Real-time 3D Model-based Tracking Using Edge and Keypoint Features for Robotic Manipulation,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, USA, 2010. [ pdf | project page ]

Changhyun Choi, Henrik I. Christensen, “Cognitive Vision for Efficient Scene Processing and Object Categorization in Highly Cluttered Environments,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, 2009. [ pdf ]

Changhyun Choi, Seung-Min Baek and Sukhan Lee, “Real-time 3D Object Pose Estimation and Tracking for Natural Landmark Based Visual Servo,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, 2008. [ pdf ]

DISSERTATION
Changhyun Choi, “Visual Object Perception in Unstructured Environments,” Robotics Ph.D., School of Interactive Computing, College of Computing, Georgia Institute of Technology, Dec. 2014. [ pdf | pdf with color href | slides | page ]

WORKSHOP PAPERS
Changhyun Choi, Joseph DelPreto, Daniela Rus, “Using Vision for Pre- and Post-grasping Object Localization for Soft Hands,” in IROS workshop: Evaluation and Benchmarking of Underactuated and Soft Robotic Hands, Daejeon, South Korea, 2016. [ 1-page abstract | poster ]

Hye Yeon Nam, Changhyun Choi, and Sam Mendenhall, “Artistic Robot: Please smile,” in ICRA workshop: Robots and Art - Frontiers in Human-Centered Robotics as Seen by the Arts, Shanghai, China, 2011. [ pdf ]

Changhyun Choi, Jacob Huckaby, John G. Rogers III, Alexander J. B. Trevor, James P. Case, and Henrik I. Christensen, “Towards Semantic Perception for Mobile Manipulation,” in IROS workshop: Semantic Perception for Mobile Manipulation, St. Louis, MO, USA, 2009. [ pdf ]

PATENTS
Yuichi Taguchi, Oncel Tuzel, Srikumar Ramalingam, Changhyun Choi, Ming-Yu Liu, “Voting-Based Pose Estimation for 3D Sensors,” US Patent, 20130156262, 2013.