Ka Hyung Choi

Yonsei University, Korea Gas Corporation (South Korea)

Papers

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About

Ka Hyung Choi is a robotics researcher whose work bridges theoretical estimation and practical deployment, with a focus on sensor fusion and autonomous navigation. His key research areas include target localization, simultaneous localization and mapping (SLAM), and mobile robot control—particularly for two-wheeled self-balancing platforms. Choi’s most impactful contribution is a robust least squares algorithm for passive target localization using ultrasonic receiver arrays, which introduced a computationally efficient method by eliminating nonlinearities through auxiliary variable augmentation. This work, published in 2013, has garnered 44 citations and remains a reference for real-time range-difference-based localization in mobile robotics. More recently, Choi has tackled the unique challenges of LiDAR-only SLAM in self-balancing robots, proposing a pitch variation filter to correct data distortion caused by abrupt accelerations. Though still early in its impact (2 citations as of 2025), this work addresses a critical gap in 2D LiDAR performance on dynamically unstable platforms. Choi’s contributions are notable for their practical orientation—solving real-world sensor noise and motion artifacts—making his research directly applicable to autonomous systems operating in unstructured environments.