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I am currently an Associate 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, 3DV, CVPR, ICCV, WACV, ECCV, ICLR, IJCAI and NeurIPS, and was or will be part of the organizing committee as one of the Program Chairs for 3DV 2022 and the 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
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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 |
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Dr. Xiaogang Wang, August 2016 - August 2020 PhD Student, Mechanical Engineering Now: Motional, Singapore |
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Kennard Ng, August 2018 - May 2021 FYP Student, Computer Engineering and then MSc Student, Computer Science Now: DSO National Laboratories, Singapore |
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Dr. Meng Tian, August 2016 - August 2021 PhD Student, Mechanical Engineering Now: Huawei, China |
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Ke Gui, January 2019 - December 2021 Research Assistant / MComp Student, Computer Science Now: Huawei, China |
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Tohar Lukov, January 2019 - June 2022 MSc Student, Computer Science Now: On the job market |
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Dr. Zi Jian Yew , August 2017 - January 2022 PhD Student, Computer Science Now: Hyundai AI, Singapore |
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Dr. Na Zhao , January 2017 - August 2022 PhD Student/Research Fellow, Computer Science Now: Assistant Professor at SUTD, Singapore |
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Dr. Jiahao Lin , August 2015 - December 2022 PhD Student/Research Fellow, Computer Science Now: Black Sesame Technologies, Singapore |
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.
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.
I am looking for a research fellow with Excellent knowledge on 3D Computer Vision and Neural Fields. Do drop me an email with your CV and research plan if you meet the following requirements:
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.
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:
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.
This is my personal homepage. I am personally responsible for all opinion and content. NUS is not responsible for anything expressed herein.