NUS-SOC-LOGO CVRP-LOGO



About Myself


I am currently an Assistant Professor at the Department of Computer Science at the National University of Singapore (NUS), where I head the Computer Vision and Robotic Perception (CVRP) Laboratory. I am also affiliated with the NUS Graduate School for Integrative Sciences and Engineering (NGS), and the NUS Institute of Data Science (IDS). I was a researcher at Mitsubishi Electric Research Laboratories (MERL), Cambridge Massachusetts, 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 at 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. I have served or will serve as an Area Chair for BMVC 2020, 3DV 2020, CVPR 2021 and ICCV 2021, and will be part of the organizing committee as the Exhibition/Demo Chair for CVPR 2023.

My research interests include: (1) Computer Vision: Minimal Problems, 3D Computer Vision, Structure- from-Motion (SfM), Visual Place Recognition, 3D Human Pose Prediction/Estimation, 3D Object Detection, and Scene Understanding. (2) Robotic Perception: Self-driving car, Micro-Aerial Vehicles (MAVs), Visual Odometry, and Simultaneous Localization and Mapping (SLAM). (3) Machine Learning: Deep Learning and Probabilistic Graphical Modeling.


I am reachable at:

Address: Computing 1, 13 Computing Drive, Singapore 117417
Email: gimhee.lee@nus(dot)edu(dot)sg, Office Tel: +65-6516-2214, Office Location: COM2-03-54, Lab Location: AS6-05-02





News and Updates

Note: Several reseach fellow/associate openings available. Do drop me an email if you have a strong publication record in the top CV and/or ML conferences/journals.

  • 17.11.2020: I'll be an area chair for ICCV 2021.
  • 04.08.2020: My students Zi Jian Yew and Na Zhao recieved the Research Achievement Award from SoC!
  • 30.07.2020: One paper accepted at BMVC 2020!
  • 27.07.2020: I'll be an area chair for 3DV 2020.
  • 03.07.2020: We have 4 papers accepted at ECCV 2020 (1 spotlight, 3 posters)!
  • 01.07.2020: One paper accepted at IROS 2020!
  • 22.06.2020: One paper accepted at ICPR 2020!
  • 17.03.2020: I'll be an area chair for BMVC 2020.
  • 28.02.2020: I received the Faculty Teaching Excellence Award for AY 2018/19!
  • 24.02.2020: We have 4 papers accepted at CVPR 2020 (1 oral, 3 posters)!
  • 23.01.2020: I'll be an area chair for CVPR 2021.
  • 22.01.2020: We have 2 papers accepted at ICRA 2020!
  • 20.12.2019: One paper accepted at ICLR 2020!
  • 19.12.2019: Check out this article featuring our work on cross-view localization!
  • 20.09.2019: 3 new openings for PhD students to work on a project with Facebook Inc! See here for more details.
  • 09.09 2019: Check out this article featuring my ex-FYP student Yew Siang Tang's research work!
  • 23.07.2019: We have 2 papers accepted at ICCV 2019!
  • 01.07.2019: One paper accepted at BMVC 2019!
  • 21.06.2019: I'll be the demo/exhibition chair for CVPR 2023.
  • 20.06.2019: One paper accepted at IROS 2019!
  • 01.06.2019: One paper accepted at IJCV 2019!
  • 25.02.2019: We have 2 papers accepted at CVPR 2019!
  • 15.02.2019: I received the Faculty Teaching Excellence Award for AY 2017/18!
  • 26.01.2019: We have 3 papers accepted at ICRA 2019!
  • 03.07.2018: One paper accepted at ECCV 2018!
  • 19.02.2018: We have 6 papers accepted at CVPR 2018 (1 spotlight, 5 posters)!
  • 02.09.2017: One paper accepted at the International Conference on 3D Vision 2017!
  • 02.08.2017: One journal paper has been accepted at the Journal of Image and Visual Computing 2017!
  • 17.07.2017: One paper accepted at ICCV 2017!
  • 15.06.2017: One paper accepted at IROS 2017!
  • 21.12.2016: One post-doctoral research fellow position available immediately. See Openings for more details.
  • 11.07.2016: One paper accepted at ECCV 2016!
  • 01.03.2016: One paper accepted at CVPR 2016!
  • 03.08.2015: I join the National University of Singapore as an Assistant Professor.
  • 16.07.2015: I left my research position at MERL.
  • 07.06.2015: I am attending CVPR 2015 in Boston MA, USA to present our paper.
  • 22.06.2014: I am attending CVPR 2014 in Columbus Ohio, USA to present our paper.
  • 19.06.2014: I left ETH Zurich to take up a new position as a researcher at MERL for a year.
  • 31.05.2014: I am attending ICRA 2014 in Hong Kong, China to present our paper.
  • 19.03.2014: I successfully defended my PhD thesis "Visual Mapping and Pose Estimation for Self-Driving Cars"!




CVRP-LOGO






Current Members / Visitors

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Dr. Jiahao Lin
Research Fellow
Computer Science

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Zi Jian Yew
PhD Student
Computer Science

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Chen Li
PhD Student
Computer Science

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Na Zhao
PhD Student
Computer Science

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Can Zhang
PhD Student
Computer Science

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Yating Xu
PhD Student
Computer Science

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Tohar Lukov
PhD Student
Computer Science

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Jinnan Chen
PhD Student
Computer Science

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Jiawei Liu
PhD Student
NUS IDS

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Weng Fei Low
PhD Student
NUS IDS

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Xiaogang Wang
PhD Student
Mech. Engineering

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Meng Tian
PhD Student
Mech. Engineering

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Ke Gui
Research Assistant
Computer Science

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Kennard Ng
MComp Student
Computer Science

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Beibei Jin
Visiting PhD Student
CAS China

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Yuanbo Chen
UROP Student
Computer Science



Past Members

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Xiangyun Meng , April 2016 - July 2017
Research Assistant, Computer Science
Now: PhD student with Dieter Fox at University of Washington, USA
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Dr. Ho Man Rang Nguyen , June 2017 - April 2018
Research Fellow, Computer Science
Now: Lecturer at Ho Chi Minh City University of Technology, Vietnam.
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Dr. Jiaxin Li, August 2014 - November 2018
PhD Student, Electrical and Computer Engineering and then Research Associate, Computer Science
Now: Research Scientist at Bytedance, Singapore
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Vincent Seng Boon Chin, January 2018 - November 2018
Undergrad FYP Student, Computer Science
Now: DSO National Laboratories, Singapore
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Dr. Liang Pan , January 2015 - January 2019
PhD Student, Mechanical Engineering
Now: Research Fellow at AI Corp Lab, NTU, Singapore
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Dr. Mengdan Feng, August 2014 - February 2019
PhD Student, Mechanical Engineering
Now: Researcher at Huawei, China
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Yew Siang Tang, August 2017 - May 2019
Undergrad UROP / FYP student, Computer Science
Now: Master student in Computer Science at Stanford University, USA
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Dr. Bingbing Zhuang, August 2015 - September 2019
PhD student, Electrical and Computer Engineering
Now: Postdoctoral researcher at NEC Research, USA
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Dr. Xun Xu, April 2019 - November 2019
Research Fellow, Computer Science
Now: Research Scientist at ASTAR, Singapore
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Dr. Sixing Hu, August 2015 - April 2020
PhD Student, Computer Science
Now: Senior Research Engineer at SmartMore, China.
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Xiaofei Sun, August 2019 - April 2020
MComp Student, Computer Science
Now: Machine Learning Engineer at Shopee, Singapore.
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Dr. Ziquan Lan , August 2018 - August 2020
Research Fellow, Computer Science
Now: Inceptio, China


Past Visiting Students

  1. Zhengning Li (PhD student, Tongji University, China, April-October 2016), Now: Autonomous System Driving Engineering at Aptiv, China
  2. Dawei Sun (Undergrad, Tsinghua University, China, July-September 2017), Now: PhD student at UIUC, USA
  3. Xiaojian Ma (Undergrad, Tsinghua University, China, July-September 2017), Now: PhD student at UCLA, USA
  4. Yirou Guo (Undergrad, Beihang University, China, July-September 2018)
  5. Shanyi Zhang (Undergrad, Beihang University, China, July-September 2018), Now: Master's student at New York University, USA
  6. Haleh Mohammadian (Master Student, Sherif University of Technology, Iran, July 2018 - March 2019)
  7. Yaxuan Li (Undergrad, Shandong University, China, January 2019 - May 2019), Now: Master's student at Mcgill University, Canada
  8. Bee-ying Sae-Ang (PhD student, King Mongkut's University of Technology Thonburi, Thailand, August 2018 - June 2020)



Academic and Teaching Activities


Reviewer

  1. Conference on Neural Information Processing Systems (NeurIPS), 2020.
  2. British Machine Vision Conference (BMVC), 2019, 2020 (Area Chair).
  3. Transaction of Pattern Recognition and Machine Intelligence (TPAMI), 2017, 2018, 2019.
  4. Asian Conference on Computer Vision (ACCV), 2018, 2020.
  5. International Conference on 3D Vision (3DV), 2017, 2018, 2019, 2020 (Area Chair).
  6. Conference on Robot Learning (CoRL), 2017, 2019.
  7. International Conference on Computer Vision (ICCV), 2017, 2019.
  8. European Conference on Computer Vision (ECCV), 2018, 2020.
  9. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017, 2018, 2019, 2020, 2021 (Area Chair).
  10. IET Computer Vision, 2016.
  11. Elseiver Journal of Robotics and Autonomous Systems (RAS), 2015.
  12. IEEE Robotics & Automation Magazine (RAM), 2013.
  13. Autonomous Robots (AURO) 2011.
  14. IEEE Winter Conference on Applications of Computer Vision (WACV), 2014, 2015, 2017, 2018, 2019, 2020.
  15. Elseiver Journal of Computer Vision and Image Understanding (CVIU), 2013, 2016.
  16. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, 2013, 2016, 2017, 2018, 2019, 2020.
  17. IEEE International Conference on Robotics and Automation (ICRA), 2011, 2013, 2014, 2015, 2016, 2017, 2019, 2020.

CVPR 2014 Doctoral Consortium

I was selected for the CVPR 2014 Doctoral Consortium. My mentor was Prof. Kostas Daniilidis from UPenn. Here's the poster I presented to him.


Conference Chair

  1. CVPR 2023: Demo/Exhibition Chair
  2. ICCV 2021: Area Chair
  3. CVPR 2021: Area Chair
  4. IROS 2020: Session Chair, Range Sensing and Deep Learning
  5. 3DV 2020: Area Chair
  6. BMVC 2020: Area Chair
  7. ICRA 2017: Session Chair, Vision and Range Sensing
  8. IROS 2013: Session Chair, Simultaneous Localization and Mapping (SLAM) II

Invited/Visiting Talks

  1. October 2020: 3DGV virtual seminar series on Geometry Processing and 3D Computer Vision
  2. October 2019: Huawei Research Center, Tokyo Japan
  3. September 2019: DSO AI Innovation Hub, Singapore
  4. September 2019: Microsoft Research Lab Cambridge, UK
  5. September 2019: Imperial College London, UK
  6. July 2019: AI Summer School, Singapore
  7. June 2019: Massachusetts Institute of Technology (MIT), USA
  8. January 2019: KAIST, South Korea
  9. September 2018: University of Zurich, Switzerland
  10. October 2016: TU Graz, Institute of Computer Graphics and Vision, Austria
  11. September 2014: NEC Laboratories, Cupertino USA
  12. December 2013: DSO National Laboratories, Singapore

Teaching Assistant / Lab Instructor

  1. Spring semesters 2012 and 2013 (ETH): TA for "Informatik I D-MAVT" (Introductory C++ for Mechanical Engineers)
  2. Fall semesters 2011 and 2012 (ETH): TA for "Computer Vision"
  3. Spring semester 2011 (ETH): TA for "3D Photography"
  4. Spring and Fall semesters 2010 (ETH): TA for "Visual Computing"
  5. Jan-May 2007 (NUS): Lab instructor for "Frequency Response" (Lab for Control Systems)
  6. Jan-May 2007 (NUS): TA for "Special Advanced Topics in Mechatronics II" (Probabilistic Robotics)
  7. Jan-May 2006 (NUS): Lab instructor for Speed/Position Control (Lab for Control Systems)

Lecturer

  1. AY2019/20 Semester 2 (NUS): CS5477/CS4277 - 3D Computer Vision
  2. AY2018/19 Semester 2 (NUS): CS6208 - Topics in AI: Computer Vision for Self-Driving Cars
  3. AY2017/18 Semester 2 (NUS): CS6212 - Topics in Media: 3D Computer Vision
  4. AY2017/18, AY2018/19, AY2019/20 Semester 1 (NUS): CS5340 - Uncertainty Modeling in AI
  5. AY2016/17 Semester 1 (NUS): ME5405 - Machine Vision Part II
  6. AY2015/16, AY2016/17 Semester 2 (NUS): ME3241/E - Microprocessor Part I
  7. AY2015/16, AY2016/17 Semester 2 (NUS): ME6402 / ME6701 - Topics in Mechatronics II (Deep Learning for Computer Vision)
  8. Spring Semester 2013 (ETH): Lecture on "Structure from Motion (SfM) / Simultaneous Localization and Mapping (SLAM)" in the "3D Photography" class
  9. Spring Semester 2014 (ETH): Lecture on "Bundle Adjustment and SLAM" in the "3D Photography" class




Publications


Peer-Reviewed Conference / Journal Papers

2020

  • Chen Li, Gim Hee Lee, Weakly supervised generative network for multiple human pose hypotheses, In British Machine Vision Conference (BMVC), 2020.

  • Bo Li, Evgeniy Maryushev, Gim Hee Lee, Relative Pose Estimation of Calibrated Cameras with Known SE(3) Invariants, In European Conference on Computer Vision (ECCV), 2020.

  • Jiahao Lin, Gim Hee Lee, HDNet: Human Depth Estimation for Multi-person Camera-space Localization, In European Conference on Computer Vision (ECCV), 2020.

  • He Chen, Pengfei Guo, Pengfei Li, Gim Hee Lee, Gregory Chirikjian, Multi-person 3D Pose Estimation in Crowded Scenes based on Multi-view Geometry, In European Conference on Computer Vision (ECCV), 2020. (Spotlight paper)

  • Meng Tian, Marcelo Ang, Gim Hee Lee, Shape prior deformation for categorical 6D object pose and size estimation, In European Conference on Computer Vision (ECCV), 2020.

  • Na Zhao, Tat-Seng Chua, Gim Hee Lee, SESS: Self-Ensembling Semi-Supervised 3D Object Detection, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020. (Oral paper)

  • Xun Xu, Gim Hee Lee, Weakly Supervised Semantic Point Cloud Segmentation: Towards 10x Fewer Labels, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020.

  • Zi Jian Yew, Gim Hee Lee, RPM-Net: Robust Point Matching using Learned Features, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020.

  • Xiaogang Wang, Marcelo Ang, Gim Hee Lee, Cascaded Refinement Network for Point Cloud Completion, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020.

  • Shen Li, Bryan Hooi, Gim Hee Lee, Identifying Through Flows for Recovering Latent Representations, In International Conference on Learning Representations (ICLR), 2020.

  • Xiaogang Wang, Marcelo Ang, Gim Hee Lee, Point Cloud Completion by Learning Shape Priors, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

  • Liang Pan, Chee-Meng Chew, Gim Hee Lee, PointAtrousGraph: Deep Hierarchical Encoder-Decoder with Atrous Convolution for Point Clouds, In IEEE International Conference on Robotics and Automation (ICRA), 2020.

  • Meng Tian, Liang Pan, Marcelo H Ang Jr, Gim Hee Lee, Robust 6D Object Pose Estimation by Learning RGB-D Features, In IEEE International Conference on Robotics and Automation (ICRA), 2020.

  • Na Zhao, Tat-Seng Chua, Gim Hee Lee, PS^2-Net: A Locally and Globally Aware Network for Point-Based Semantic Segmentation, In International Conference on Pattern Recognition (ICPR), 2020.

  • Na Zhao, Tat-Seng Chua, Gim Hee Lee, Few-shot 3D Point Cloud Semantic Segmentation, In ArXiv, 2020.

  • Xiaogang Wang, Marcelo Ang, Gim Hee Lee, A Self-supervised Cascaded Refinement Network for Point Cloud Completion, In ArXiv, 2020.

2019

  • Yew Siang Tang, Gim Hee Lee, Transferable Semi-supervised 3D Object Detection from RGB-D Data, In IEEE International Conference on Computer Vision (ICCV), 2019.

  • Jiaxin Li, Gim Hee Lee, USIP: Unsupervised Stable Interest Point Detection from 3D Point Clouds, In IEEE International Conference on Computer Vision (ICCV), 2019.

  • Jiahao Lin, Gim Hee Lee, Trajectory Space Factorization for Deep Video-Based 3D Human Pose Estimation, In British Machine Vision Conference (BMVC), 2019.

  • Bingbing Zhuang, Quoc-Huy Tran, Gim Hee Lee, Loong-Fah Cheong, Manmohan Chandraker, Degeneracy in Self-Calibration Revisited and a Deep Learning Solution for Uncalibrated SLAM, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.

  • Chen Li, Gim Hee Lee, Generating Multiple Hypotheses for 3D Human Pose Estimation with Mixture Density Network, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2019.

  • Ziquan Lan, Zi Jian Yew, Gim Hee Lee, Robust Point Cloud Based Reconstruction of Large-Scale Outdoor Scenes, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2019.

  • Sixing Hu, Gim Hee Lee, Image-Based Geo-Localization Using Satellite Imagery, In International Journal of Computer Vision (IJCV) 2019.

  • Mengdan Feng, Sixing Hu, Marcelo H. Ang, Gim Hee Lee, 2D3D-MatchNet: Learning to Match Keypoints Across 2D Image and 3D Point Cloud, In IEEE International Conference on Robotics and Automation (ICRA), 2019.

  • Jiaxin Li, Yingcai Bi, Gim Hee Lee, Discrete Rotation Equivariance for Point Cloud Recognition, In IEEE International Conference on Robotics and Automation (ICRA), 2019.

  • Lionel Heng, Benjamin Choi, Zhaopeng Cui, Marcel Geppert, Sixing Hu, Benson Kuan, Peidong Liu, Rang Nguyen, Ye Chuan Yeo, Andreas Geiger, Gim Hee Lee, Marc Pollefeys, Torsten Sattler, Project AutoVision: Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System, In IEEE International Conference on Robotics and Automation (ICRA), 2019.

  • Mengdan Feng, Marcelo Ang, Gim Hee Lee, Learning Low-Rank Images for Robust All-Day Feature Matching, In IEEE Intelligent Vehicle Symposium (IV), 2019.

2018

  • Zi Jian Yew, Gim Hee Lee, 3DFeat-Net: Weakly Supervised Local 3D Features for Point Cloud Registration, In European Conference on Computer Vision (ECCV), 2018.

  • Chen Li, Zhen Zhang, Wee Sun Lee, Gim Hee Lee, Convolutional Sequence to Sequence Model for Human Dynamics, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 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, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018 (Spotlight paper).

  • Mikaela Angelina Uy, Gim Hee Lee, PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018.

  • Bingbing Zhuang, Loong-Fah Cheong, Gim Hee Lee, Baseline Desensitizing In Translation Averaging, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018.

  • Ziquan Lan, David Hsu, Gim Hee Lee, Solving the Perspective-2-Point Problem for Flying-Camera Photo Composition, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018.

  • Jiaxin Li, Ben M Chen, Gim Hee Lee, SO-Net: Self-Organizing Network for Point Cloud Analysis, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018.

  • Mengdan Feng, Sixing Hu, Gim Hee Lee, Marcelo H. Ang, Towards Precise Vehicle-Free Point Cloud Mapping: An On-vehicle System with Deep Vehicle Detection and Tracking, IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2018.

2017

  • Christian Haene, Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, Paul Furgale, Torsten Sattler, Marc Pollefeys, 3D visual perception for self- driving cars using a multi-camera system: Calibration, mapping, localization, and obstacle detection, In Image and Vision Computing (IVC) 2017.

  • Gim Hee Lee, Line Association and Vanishing Point Estimation with Binary Quadratic Programming, In International Conference on 3D Vision (3DV) 2017.

  • Bingbing Zhuang, Loong-Fah Cheong, Gim Hee Lee, Rolling-Shutter Aware Differential SfM and Image Rectification, In IEEE International Conference on Computer Vision (ICCV), 2017.

  • Jiaxin Li, Huangying Zhan, Ben M Chen, Ian Reid, Gim Hee Lee, Deep learning for 2D scan matching and loop closure, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

2016

  • Gim Hee Lee, A Minimal Solution for Non-Perspective Pose Estimation from Line Correspondences, In European Conference on Computer Vision (ECCV), 2016.

  • Olivier Saurer, Marc Pollefeys, Gim Hee Lee, Sparse to Dense 3D Reconstruction from Rolling Shutter Images, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016.

  • Ulrich Schwesinger, Mathias Buerki, Julian Timpner, Stephan Rottmann, Lars Wolf, Lina Maria Paz, Hugo Grimmet, Ingmar Posner, Paul Newman, Christian Haene, Lionel Heng, Gim Hee Lee, Torsten Sattler, Marc pollefeys, Marco Allodi, Francesco Valenti, Keiji Mimura, Bernd Goebelsmann, and Roland Siegwart, Automated Valet Parking and Charging for e-Mobility Results of the V-Charge Project, In IEEE Intelligent Vehicles Symposium (IV), 2016.

  • Syeda Mariam Ahmed, Yan Zhi Tan, Gim Hee Lee, Chee-Meng Chew, Chee Khiang Pang, Object detection and motion planning for automated welding of tubular joints, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

2015

  • Gim Hee Lee, Bo Li, Marc Pollefeys, Friedrich Fraundorfer, Minimal Solutions for the Multi-Camera Pose Estimation Problem, In International Journal of Robotics Research (IJRR), 2015.

  • Olivier Saurer, Marc Pollefeys, and Gim Hee Lee, A Minimal Solution to the Rolling Shutter Pose Estimation Problem, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

  • Srikumar Ramalingam, Michel Antunes, Dan Snow, Gim Hee Lee, Sudeep Pillai, Line-Sweep: Cross-Ratio For Wide-Baseline Matching and 3D Reconstruction, In IEEE Computer Vision and Pattern Recognition (CVPR), 2015.

  • Lionel Heng, Gim Hee Lee, and Marc Pollefeys, Self-Calibration and Visual SLAM with a Multi-Camera System on a Micro Aerial Vehicle, In Autonomous Robots (AURO), 2015.

2014

  • Christian Haene, Lionel Heng, Gim Hee Lee, Alexi Sizov, and Marc Pollefeys, Real-Time Direct Dense Matching on Fisheye Images Using Plane-Sweeping Stereo, International Conference for 3D Vision (3DV), 2014.

  • Lionel Heng, Gim Hee Lee, and Marc Pollefeys, Self-Calibration and Visual SLAM with a Multi-Camera System on a Micro-Aerial Vehicle, In Robotics: Science and Systems (RSS), 2014.

  • Lionel Heng, Dominik Honegger, Gim Hee Lee, Lorenz Meier, Petri Tanskanen, Friedrich Fraundorfer, and Marc Pollefeys, Autonomous Visual Mapping and Exploration With a Micro Aerial Vehicle, Journal of Field Robotics (JFR), 2014.

  • Gim Hee Lee, Marc Pollefeys, and Friedrich Fraundorfer, Relative Pose Estimation for a Multi-Camera System with Known Vertical Direction, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2014.

  • Gim Hee Lee, and Marc Pollefeys, Unsupervised Learning of Threshold for Geometric Verification in Visual-Based Loop-Closure, In IEEE International Conference on Robotics and Automation (ICRA), 2014.

  • Lionel Heng, Mathias Buerki, Gim Hee Lee, Paul Furgale, Roland Siegwart, and Marc Pollefeys, Infrastructure-Based Calibration of a Multi-Camera Rig, In IEEE International Conference on Robotics and Automation (ICRA), 2014.

2013

  • Gim Hee Lee, Bo Li, Marc Pollefeys, and Friedrich Fraundorfer, Minimal Solutions for Pose Estimation of a Multi-Camera System, In International Symposium on Robotics Research (ISRR), 2013.

  • Bo Li, Lionel Heng, Gim Hee Lee, and Marc Pollefeys, A 4-point Algorithm for Relative Pose Estimation of a Calibrated Camera with a Known Relative Rotation Angle, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.

  • Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, Structureless Pose-Graph Loop-Closure with a Multi-Camera System on a Self-Driving Car, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.

  • Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, Robust Pose-Graph Loop-Closures with Expectation-Maximization, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.

  • Paul Furgale, Ulrich Schwesinger, Martin Rufli, Wojciech Derendarz, Hugo Grimmett, Peter Muehlfellner, Stefan Wonneberger, Julian Timpner, Stephan Rottmann, Bo Li, Bastian Schmidt, Thien Nghia Nguyen, Elena Cardarelli, Stefano Cattani, Stefan Bruening, Sven Horstmann, Martin Stellmacher, Holger Mielenz, Kevin Koeser, Markus Beermann, Christian Haene, Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, René Iser, Rudolph Triebel, Ingmar Posner, Paul Newman, Lars Wolf, Marc Pollefeys, Stefan Brosig, Jan Effertz, Cédric Pradalier, and Roland Siegwart, Toward Automated Driving in Cities using Close-to-Market Sensors, an Overview of the V-Charge Project, In IEEE Intelligent Vehicle Symposium (IV), 2013.

  • Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, Motion Estimation for a Self-Driving Car with a Generalized Camera, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2013.

2012

  • Friedrich Fraundorfer, Lionel Heng, Dominik Honegger, Gim Hee Lee, Lorenz Meier, Petri Tanskanen, and Marc Pollefeys, (Authors in alphabetical order, except Marc Pollefeys who was the principal investigator) Vision-Based Autonomous Mapping and Exploration Using a Quadrotor MAV, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. (Finalist for the IROS 2012 Best Paper Award)

  • Markus Achtelik, Michael Achtelik, Yorick Brunet, Margarita Chli, Savvas A. Chatzichristofis, Jean-Dominique Decotignie, Klaus-Michael Doth, Friedrich Fraundorfer, Laurent Kneip, Daniel Gurdan, Lionel Heng, Elias B. Kosmatopoulos, Lefteris Doitsidis, Gim Hee Lee, Simon Lynen, Agostino Martinelli, Lorenz Meier, Marc Pollefeys, Damien Piguet, Alessandro Renzaglia, Davide Scaramuzza, Roland Siegwart, Jan Stumpf, Petri Tanskanen, Chiara Troiani, and Stephan Weiss, (Authors in alphabetical order) sFly: Swarm of Micro Flying Robots, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. (Finalist for the IROS 2012 Best Video Award)

2011

  • Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, RS-SLAM: RANSAC sampling for visual FastSLAM, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.

  • Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, Real-time photo-realistic 3D mapping for micro aerial vehicles, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.

  • Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, MAV visual SLAM with plane constraint, In IEEE International Conference on Robotics and Automation (ICRA), 2011.

  • Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, A benchmarking tool for MAV visual pose estimation, In IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV), 2010.

2009

  • Gim Hee Lee, Marcelo H. Ang Jr., Mobile Robots Navigation, Mapping, and Localization Part I, In Encyclopedia of Artificial Intelligence, 2009.

  • Gim Hee Lee, Marcelo H. Ang Jr., Mobile Robots Navigation, Mapping, and Localization Part II, In Encyclopedia of Artificial Intelligence, 2009.

2008

  • Gim Hee Lee, Marcelo H. Ang Jr., An Integrated Algorithm for Autonomous Navigation of a Mobile Robot in an Unknown Environment, In Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII) 12(4), 2008.


Theses

  • Gim Hee Lee, Visual Mapping and Pose Estimation for Self-Driving Cars, PhD Thesis, ETH Zurich, 2014.
  • Gim Hee Lee, Sensor-Based Localization of a Mobile Robot, Masters Thesis, National University of Singapore, 2007.
  • Gim Hee Lee, Navigation of a Mobile Robot in an Unknown Environment, Bachelor Thesis, National University of Singapore, 2005.




Prospective Students

please read this before contacting me!

I am always looking for motivated PhD/MComp/BComp students to work with me in the area of computer vision and robotics perception at the Department of Computer Science, NUS.

PhD students must get accepted by the PhD program at either the NUS Department of Computer Science (see here), NGS-IDS (see here) or NUS-NGS (see here) to join my group. The acceptance decisions are made by the graduate committee, contacting me will not influence their decisions. However, you may wish to drop me an email to inform me on your application and interest to work with me.

No funding is available for MComp and BComp students. For MComp/undergrad students from the Department of Computer Science, NUS, who wants to do your MComp thesis or FYP/UROP with me, please send me an email. Please contact me for internship/visiting only if you are (1) self-funded, (2) able to stay for >=12 months, and (3) have sufficient research experience in the area of computer vision and robotics perception.



MAV Dataset

Disclaimer: The original dataset was deleted from my ETH webpage when I left. I have tried my best to recover the dataset here, I apologize if it is not perfect.

Nicolo Valigi has kindly made the dataset competible with ROS.

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The large collections of datasets for researchers working on the Simultaneous Localization and Mapping problem are mostly collected from sensors such as wheel encoders and laser range finders mounted on ground robots. The recent growing interest in doing visual pose estimation with cameras mounted on micro-aerial vehicles however has made these datasets less useful. Here, we provide datasets collected from a sensor suite mounted on the "pelican" quadrotor platform in an indoor environment. Our sensor suite includes a forward looking camera, a downward looking camera, an inertial measurement unit and a Vicon system for groundtruth. We propose the use our datasets as benchmarking tools for future works on visual pose estimation for micro-aerial vehicles.

Five synchronized datasets - 1LoopDown, 2LoopsDown, 3LoopsDown, hoveringDown and randomFront are created. These datasets are collected from the quadrotor flying 1, 2 and 3 loop sequences, hovering within a space of approximately 1m x 1m x 1m, and flying randomly within the sight of the Vicon system. These datasets consist of images from the camera, accelerations, attitude rates, absolute angles and absolute headings from the IMU, and groundtruth from the Vicon system. Images from the first 4 datasets are from the downward looking camera and images from the last dataset are from the forward looking camera. Synchronized datasets for the calibrations of the forward and downward cameras are also provided.

More details of the acquisition of this dataset are given in our paper:

  • Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, A benchmarking tool for MAV visual pose estimation, In IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV), 2010.

Get Our Dataset Here!

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  1. Quadrotor flew 1 closed loop trajectory (downward looking camera) [1LoopDown]
  2. Quadrotor flew 2 closed loops trajectory (downward looking camera) [2LoopsDown]
  3. Quadrotor flew 3 closed loops trajectory (downward looking camera) [3LoopsDown]
  4. Quadrotor hovering within a space of approximately 1m x 1m x 1m (downward looking camera) [hoveringDown]
  5. Quadrotor flying randomly within the line-of-sight of the Vicon system (front looking camera) [randomFront]
  6. Calibration images (front looking camera) [calibrationFront]
  7. Calibration images (downward looking camera) [calibrationDown]

Additional Information

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  1. Transformation matrix that relates downward looking camera to quad rotor [T_Quad_Cam (Down)]
  2. Transformation matrix that relates front looking camera to quad rotor [T_Quad_Cam (Front)]
  3. Downward looking camera intrinsic values [intrinsic (Down)]
  4. Frontlooking camera intrinsic values [intrinsic (Front)]
  5. ARToolKitPlus Markers configuration file [ARTK Config]
  6. Matlab file for benchmarking pose estimation algorithm with Vicon groundtruth (Cosine Similarity) [benchmark.m]


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Note that the quadrotor frame (body frame) refers to the coordinate frame that we measure the Vicon readings. There is a separate IMU frame where the accelerations readings from the accelerometer are measured with respect to. The IMU frame is -4cm in the z-axis of the downward looking camera and it is taken to have the same orientation as the body frame. There is also an Inertial frame which is the fixed world frame. See the above figures for illustrations of these coordinate frames.





Disclaimer:

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