He received his B.A. in computer science and mathematics at the University of California, Berkeley in 1991 and his Ph.D. in computer sciences at the University of Wisconsin, Madison in 1997. Following his doctoral work, he spent one year visiting the Vision Technology Group at Microsoft Research, and subsequently two years as an Assistant Professor in the Robotics Institute at Carnegie Mellon University. He joined the faculty at the University of Washington in July 2000. He was twice awarded the David Marr Prize for the best paper at the International Conference of Computer Vision, and has received an NSF Career Award, an ONR Young Investigator Award, and an Alfred P. Sloan Fellowship.