Gim Hee Lee :: CVRP Lab

Assistant Professor
Department of Computer Science,
Computing 1, 13 Computing Drive, Singapore 117417

Other AffiliationNUS Institute of Data Science
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 am also affiliated with the NUS Institute of Data Science. 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.

Research Interests

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


  • 9 September 2019: Check out this article featuring my ex-FYP student Yew Siang Tang's research work! 
  • 23 July 2019: We have 2 papers accepted at ICCV 2019!
  • 1 July 2019: Our paper "Trajectory Space Factorization for Deep Video-Based 3D Human Pose Estimation" has been accepted at BMVC 2019!
  • 20 June 2019: Our paper "Degeneracy in Self-Calibration and a Deep Learning Solution for Uncalibrated SLAM" has been accepted at IROS 2019!
  • 1 June 2019: Our paper "Image-Based Geo-Localization Using Satellite Imagery" has been accepted at IJCV 2019!
  • 25 February 2019: We have 2 papers accepted at CVPR 2019!
  • 15 February 2019: I received the Faculty Teaching Excellence Award for AY 2017/18!
  • 26 January 2019: We have 3 papers accepted at 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 at 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 have joined 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"!

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