Gim Hee Lee :: CVRP Lab

Assistant Professor

Department of Computer Science,
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

About Myself

I am currently an Assistant Professor at the 
Department of Computer ScienceNational 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), 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 PollefeysI 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.


  • 15 February 2019: I received the Faculty Teaching Excellence Award for AY 2017/18!
  • 26 January 2019: We have 3 papers accepted into ICRA 2019
  • 3 July 2018: Our paper "3DFeat-Net: Weakly Supervised Local 3D Features for Point Cloud Registration"  has been accepted at ECCV 2018!
  • 19 February 2018: We have 6 papers accepted into CVPR 2018 (1 spotlight, 5 posters)! 
  • 2 September 2017: My paper "Line Association and Vanishing Point Estimation with Binary Quadratic Programming" has been accepted at the International Conference on 3D Vision 2017! 
  • 2 August 2017: Our journal paper "3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection" has been accepted at the Journal of Image and Visual Computing 2017!
  • 17 July 2017: Our paper "Rolling-Shutter-Aware Differential SfM and Image Rectification"  has been accepted at ICCV 2017!
  • 15 June 2017: Our paper "Deep Learning for 2D Scan Matching and Loop Closure" has been accepted at IROS 2017!
  • 21 Dec 2016: One post-doctoral research fellow position available immediately. See Openings for more details.
  • 11 July 2016: My paper "A Minimal Solution for Non-Perspective Pose Estimation from Line Correspondences" has been accepted at ECCV 2016!
  • 01 March 2016: Our paper "Sparse to Dense 3D Reconstruction from Rolling Shutter Images" has been accepted at CVPR 2016!
  • 03 August 2015: I join the National University of Singapore as an Assistant Professor.
  • 16 July 2015: I have left MERL where I was a researcher.
  • 07 June 2015: I am attending CVPR 2015 in Boston MA, USA to present our paper on "Line-Sweep: Cross-Ratio For Width-Baseline Matching and 3D Reconstruction". 
  • 22 June 2014: I am attending CVPR 2014 in Columbus Ohio, USA to present my paper on "Relative Pose Estimation for a Multi-Camera System with Known Vertical Direction". 
  • 19 June 2014: I have left ETH Zurich to take up a new position as a researcher in MERL for a year. 
  • 31 May 2014: I am attending ICRA 2014 in Hong Kong, China to present my paper on "Unsupervised Learning of Threshold for Geometric Verification in Visual-Based Loop-Closure".
  • 19 March 2014: I have successfully defended my PhD thesis "Visual Mapping and Pose Estimation for Self-Driving Cars"!

Note to Potential PhD Students

If you are interested in doing your PhD with me in the area of Computer Vision and Robotics perception at the Department of Computer Science, NUS, send me an email with your resume, academic transcripts and a short research statement. Check here for more information on the admission requirements for PhD studies in the Department of Computer Science, NUS. 

Computer Vision and Robotic Perception (CVRP) Laboratory

PhD Students
  1. Sixing Hu (Computer Science, NUS, August 2015 - Present) 
  2. Jiahao Lin (Computer Science, NUS, August 2015 - Present) 
  3. Zi Jian Yew (Computer Science, NUS, August 2017 - Present) 
  4. Chen Li (Computer Science, NUS, January  2018 - Present)
  5. Na Zhao (Computer Science, NUS, January 2017 - Present)
Research Assistant
  1. Ziquan Lan (Research assistant, Computer Science, NUS, July 2018 - Present)
  2. Ke Gui (Research assistant, Computer Science, NUS, March 2019 - Present)
Final Year Project (FYP) Students
  1. Yew Siang Tang (Computer Science, NUS, August 2018 - Present), previously UROP student (August 2017 - May 2018)
  2. Kennard Ng (Computer Engineering, NUS, August 2018 - Present)
  3. Yaxuan Li (College of Control Science and Engineering (Automation), Shandong University, January 2019 - Present)
Other students: I am also working with a group of PhD students from the Faculty of Engineering, NUS: 
  1. Bingbing Zhuang (PhD student, ECE, August 2015 - Present)
  2. Xiaogang Wang (PhD student, Mech. E, August 2016 - Present) 
  3. Meng Tian (PhD student, Mech. E, August 2016 - Present)
Visitors: These are the students who had visited / are visiting our lab: 
  1. Zhengning Li (PhD student, Tongji University, China, April-October 2016)
  2. Dawei Sun (Undergrad, Tsinghua University, China, July-September 2017)
  3. Xiaojian Ma (Undergrad, Tsinghua University, China, July-September 2017
  4. Yirou Guo (Undergrad, Beihang University, China, July-September 2018)
  5. Shanyi Zhang (Undergrad, Beihang University, China, July-September 2018)
  6. Bee-ying Sae-Ang (PhD student, King Mongkut University of Technology, Thailand, June 2018 - March 2019)
  7. Haleh Mohammadian (Master Student, Sherif University of Technology, Iran, July 2018 - March 2019)
  1. Xiangyun Meng (Computer Science, NUS), Research Assistant, April 2016 - July 2017: now PhD student with Dieter Fox, University of Washington, USA.
  2. Dr. Ho Man Rang Nguyen (Computer Science, NUS),  Research Fellow, June 2017 - April 2018: now Lecturer in Ho Chi Minh City University of Technology, Vietnam.
  3. Mikaela Angelina Uy (Computer Science, NUS), MComp student, August 2017 - June 2018.
  4. Mengdan Feng (Mech. E, NUS), PhD student, August 2014 - August 2018: now Research Engineer in SMART, NUS, Singapore.
  5. Dr. Jiaxin Li (Computer Science, NUS), Research Associate,  June 2018 - November 2018: now in Nutonomy, Singapore.
  6. Vincent Seng Boon Chin (Computer Science, NUS), FYP student,  January 2018 - November 2018: now in DSO National Laboratories, Singapore.
  7. Liang Pan (Mech. E, NUS), PhD student, January 2015 - January 2019.

This is my personal 
homepage. I am personally responsible for all opinion and content. NUS is not responsible for anything expressed herein.