LEE Gim Hee

Assistant Professor
Dr.sc. (Computer Science, ETH Zurich)
M.Eng. (Mechanical Engineering, National University of Singapore)
B.Eng. (Mechanical Engineering, 1st Class Honors, National University of Singapore)
651 62214


Research Areas

  • Media
  • Artificial Intelligence

Research Interests

  • Computer Vision
  • Robotic Perception
  • Machine Learning


I am currently an Assistant Professor at the Department of Computer Science, National University of Singapore (NUS), where I head the Computer Vision and Robotic Perception (CVRP) Laboratory. I was a researcher at Mitsubishi Electric Research Laboratories (MERL), USA from June 2014 to July 2015. Prior to MERL, I did my PhD in Computer Science at ETH Zurich from January 2009 to March 2014 under the supervision of Prof. Marc Pollefeys. I received my B.Eng with first class honors and M.Eng degrees from the Department of Mechanical Engineering, NUS in June 2005 and February 2008 respectively. I worked at DSO National Laboratories in Singapore as a Member of Technical Staff from August 2007 to December 2008.

Current Projects

  • Deep Generative Models for Video Generation
  • Multi-Robot Localization and Perception
  • AutoVision: 3D Computer Vision for Autonomous Vehicles

Selected Publications

  • Xun Xu, Gim Hee Lee, Weakly Supervised Semantic Point Cloud Segmentation: Towards 10x Fewer Labels, CVPR 2020.

  • Zi Jian Yew, Gim Hee Lee, "RPM-Net: Robust Point Matching using Learned Features", CVPR 2020.

  • Na Zhao, Tat-Seng Chua, Gim Hee Lee, SESS: Self-Ensembling Semi-Supervised 3D Object Detection, CVPR 2020.

  • Jiaxin Li, Gim Hee Lee, "USIP: Unsupervised stable interest point detection from 3d point clouds”, ICCV 2019.

  • Yew Siang Tang, Gim Hee Lee, "Transferable semi-supervised 3d object detection from RGB-D Data”, ICCV 2019.

  • Chen Li, Gim Hee Lee, "Generating Multiple Hypotheses for 3D Human Pose Estimation with Mixture Density Network", CVPR 2019.

  • Ziquan Lan, Zi Jian Yew, Gim Hee Lee, "Robust Point Cloud Based Reconstruction of Large-Scale Outdoor Scenes", CVPR 2019.

  • Zi Jian Yew, Gim Hee Lee, "3DFeat-Net: Weakly Supervised Local 3D Features for Point Cloud Registration", ECCV 2018.

  • Sixing Hu, Mengdan Feng, Rang M. H. Nguyen, Gim Hee Lee, "CVM-Net: Cross-View Matching Network for Image-Based Ground-to-Aerial Geo-Localization", CVPR 2018.

  • Gim Hee Lee, "Line Association and Vanishing Point Estimation with Binary Quadratic Programming", 3DV 2017

  • Gim Hee Lee, "A Minimal Solution for Non-Perspective Pose Estimation from Line Correspondences", ECCV 2016

Awards & Honours

  • Faculty Teaching Excellence Award AY 2018/19
  • Faculty Teaching Excellence Award AY 2017/18
  • CVPR 2014 Doctoral Consortium Travel Award
  • Finalist for the IROS 2012 Best Paper Award
  • Finalist for the IROS 2012 Best Video Award

Teaching (2020/2021)

  • CS5340: Uncertainty Modelling in AI
  • CS5477: 3D Computer Vision
  • CS4277: 3D Computer Vision