Tomas Ojea Quintana, the United Nations special rapporteur on the rights situation in North Korea, made the comments as he introduced his report on the country to the Human Rights Council.
"Today, we witness what appears to be a potential for rapid progress on the political and security front, with communication channels steadily building-up between the two Koreas as well as the United States of America, and historical summit plans for the near future," Ojea Quintana said.
Trump last week stunned observers when he agreed to meet with Kim by the end of May.
South Korean and White House officials have said the summit will aim to secure a deal to remove nuclear weapons from the Korean peninsula.
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But the US president and North Korean leader have yet to confirm a date or venue.
Ojea Quintana, speaking to reporters after his presentation, conceded there may be resistance to putting human rights at the centre of talks aimed at resolving a nuclear standoff.
He also offered a note of caution based on his experiences with North Korea.
"Engagement is positive but the challenge of verifying implementation of their commitments on the ground is still there," he said, speaking strictly about human rights issues.
He noted that the North has refused to cooperate with his mandate, dismissing it as politically motivated.
His report, made public last week, highlighted the use of torture in detention, chronic food insecurity and "severe restrictions on all forms of free expression, movement and access to information".
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