Elijah S. Lee

Research Interests

Robotics; Machine Learning; Computer Vision; Autonomous System; Multi-Robot Systems

Education & Experience

Journal Papers

• Elijah S. Lee, Giuseppe Loianno, Dinesh Jayaraman, and Vijay Kumar, “Vision-based Perimeter Defense via Multiview Pose Estimation,” Under review.

• Elijah S. Lee, Lifeng Zhou, Alejandro Ribeiro, and Vijay Kumar, “Graph Neural Networks for Decentralized Multi-Agent Perimeter Defense,” Frontiers in Control Engineering, 2023. [pdf][vid]

• Elijah S. Lee, Giuseppe Loianno, Dinesh Thakur, and Vijay Kumar, “Experimental Evaluation and Characterization of Radioactive Source Effects on Robot Visual Localization and Mapping,” IEEE Robotics and Automation Letters (RAL), 2020. [pdf][vid]

• Steven W. Chen, Guilherme V. Nardari, Elijah S. Lee, Chao Qu, Xu Liu, Roseli Romero, and Vijay Kumar, “SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory,” IEEE Robotics and Automation Letters (RAL), 2020. [pdf][vid]

• Ian D. Miller, Fernando Cladera, Anthony Cowley, Shreyas S. Shivakumar, Elijah S. Lee, Laura Jarin-Lipschitz, Akhilesh Bhat, Neil Rodrigues, Alex Zhou, Avraham Cohen, Adarsh Kulkarni, James Laney, Camillo Jose Taylor, and Vijay Kumar, “Mine Tunnel Exploration using Multiple Quadrupedal Robots,” IEEE Robotics and Automation Letters (RAL), 2020. [pdf][vid]

• Ty Nguyen, Shreyas Shivakumar, Ian D. Miller, James Keller, Elijah S. Lee, Alex Zhou, Tolga Ozaslan, Giuseppe Loianno, Joseph H. Harwood, Jennifer Wozencraft, Camillo J. Taylor, and Vijay Kumar, “MAVNet: an Effective Semantic Segmentation Micro-Network for MAV-based Tasks,” IEEE Robotics and Automation Letters (RAL), 2019. [pdf][vid]

• Elijah S. Lee, Wongun Choi, and Dongsuk Kum, “Bird's Eye View Localization of Surrounding Vehicles: Longitudinal and Lateral Distance Estimation with Partial Appearance,” Robotics and Autonomous Systems, 2018. [pdf][vid]

• Yeongho Son*, Elijah S. Lee*, and Dongsuk Kum (*Equal contribution), “Robust multi-lane detection and tracking using adaptive threshold and lane classification,” Machine Vision and Applications, 2018. [pdf][vid]

Conference Papers

• Elijah S. Lee, Daigo Shishika, Giuseppe Loianno, and Vijay Kumar, “Defending a Perimeter from a Ground Intruder Using an Aerial Defender: Theory and Practice,” IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2021. [pdf][vid]

• Elijah S. Lee, Ankit Vora, Armin Parchami, Punarjay Chakravarty, Gaurav Pandey, and Vijay Kumar, “Infrastructure Node-based Vehicle Localization for Autonomous Driving,” arXiv, 2021. [pdf][vid]

• Elijah S. Lee, Daigo Shishika, and Vijay Kumar, “Perimeter-defense Game between Aerial Defender and Ground Intruder,” IEEE Conference on Decision and Control (CDC), 2020. [pdf][vid]

• Elijah S. Lee, Giuseppe Loianno, Dinesh Thakur, and Vijay Kumar, “Experimental Evaluation and Characterization of Radioactive Source Effects on Robot Visual Localization and Mapping,” IEEE International Conference on Robotics and Automation (ICRA), 2020. [pdf][vid]

• Steven W. Chen, Guilherme V. Nardari, Elijah S. Lee, Chao Qu, Xu Liu, Roseli Romero, and Vijay Kumar, “SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory,” IEEE International Conference on Robotics and Automation (ICRA), 2020. [pdf][vid]

• Ian D. Miller, Fernando Cladera, Anthony Cowley, Shreyas S. Shivakumar, Elijah S. Lee, Laura Jarin-Lipschitz, Akhilesh Bhat, Neil Rodrigues, Alex Zhou, Avraham Cohen, Adarsh Kulkarni, James Laney, Camillo Jose Taylor, and Vijay Kumar, “Mine Tunnel Exploration using Multiple Quadrupedal Robots,” IEEE International Conference on Robotics and Automation (ICRA), 2020. [pdf][vid]

• Ty Nguyen, Shreyas Shivakumar, Ian D. Miller, James Keller, Elijah S. Lee, Alex Zhou, Tolga Ozaslan, Giuseppe Loianno, Joseph H. Harwood, Jennifer Wozencraft, Camillo J. Taylor, and Vijay Kumar, “MAVNet: an Effective Semantic Segmentation Micro-Network for MAV-based Tasks,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. [pdf][vid]

• Elijah S. Lee and Dongsuk Kum, “Feature-based Lateral Position Estimation of Surrounding Vehicles Using Stereo Vision,” IEEE Intelligent Vehicles Symposium (IV), 2017. [pdf][vid]

• Elijah S. Lee, Dongsoo Har, and Dongsuk Kum, “Drone-Assisted Disaster Management: Finding Victims via Infrared Camera and Lidar Sensor Fusion,” IEEE Asia-Pacific World Congress on Engineering (APWCE), 2016. [Best Paper] [pdf][vid]

Patent

• Dongsuk Kum, Lunaric Ko, and Elijah S. Lee, “Dual-mode Unmanned Aerial Vehicle,” Korea, Registration Number: 10-1926310 (2018-11-30)

• Dongsuk Kum, Youngseok Kim, and Elijah S. Lee, “Distance Measuring Device Using Mono Infrared Camera and  Method Thereof,” Korea, Registration Number: 10-1918887 (2018-11-08)

Domestic Papers 

• Elijah S. Lee and Dongsuk Kum, “Lateral Position Extraction for Nearby Vehicles Using Feature Matching,” Korean Society of Automotive Engineers (KSAE), 2017. [Best Paper] 

Technical Report

• Elijah S. Lee and Joel Burdick, “Rising Hope for Rising up: Constructing Stand Frame for People with Spinal Cord Injury,” SURF Final Report, California Institute of Technology, 2012.

awards & honors

• Best Paper Award at US-Korea Conference (UKC 2020)

• Science Communication Essay Scholarship at KOFST YG Workshop (2020)

• GAPSA Research Travel Grant for ICRA Conference (2020)

• Best Paper Award at Korean Society of Automotive Engineers (KSAE 2017)

• Best Paper Award at IEEE Asia-Pacific World Congress on Engineering (APWCE 2016)

• 3rd place at Autonomous Mobile Robot Competition held at Cornell University (2015)

• KUSCO-KSEA Scholarship for recognizing outstanding graduate students (2014)

• Summer Undergraduate Research Fellowship for Caltech SURF research program (2012)

• Exemplary Achievement Award for outstanding academics and service at HTCC Conference (2011)

• Outstanding Achievement Award at LA Regional Robotics Competition (2008)

• 1st place at KSEA National Math & Science Competition (2008)

Presentations

Teaching experience

Teaching Assistant, MEAM 620: Advanced Robotics, University of Pennsylvania (Spring 2021)

• Designed final projects for closing perception-action loop with quadrotor simulator and held office hours

Teaching Assistant, ESE 650: Learning in Robotics, University of Pennsylvania (Spring 2020)

• Designed projects for graduate students, graded assignments, and held office hours

Teaching Assistant, MAE 3272: Mechanical Property and Performance Laboratory, Cornell University (Spring 2014)

• Provided review lectures for undergraduate students, designed lab sessions, graded lab reports, and held office hours 

Volunteer Teacher, Vision School Group, Daejeon, Korea (June 2015 - May 2016)

• Organized a group of KAIST students to teach Math and English to unprivileged students from 3rd to 12th grade 

LEGO Robotics Outreach, Cayuga Heights Elementary, Ithaca, NY, USA (Aug 2014 - May 2015)

• Taught Cayuga Heights Elementary School students to program Mindstorms NXT kits for robot perception and navigation 

High School Teacher, 4-H Summer School Program, Ithaca, NY, USA (July 2014)

• Organized 4-H summer school program for high school students in Tompkins County and lectured on engineering 

Professional Service

Reviewing Activities

• IEEE Robotics and Automation Letters (RAL)

• Journal of Field Robotics (JFR)

• IEEE International Conference on Robotics and Automation (ICRA)

• IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

• Learning for Dynamics and Control (L4DC)

• IEEE International Conference on Intelligent Transportation Systems (ITSC)

• IEEE International Symposium on Safety and Rescue Robotics (SSRR)

• American Control Conference (ACC)

Memberships, IEEE Member

Skill

• Programming Languages/Utilities: Python, C/C++, MATLAB, Verilog, Arduino, LaTeX, MATHEMATICA 

• Tools/Library/Software: ROS, Git, PyTorch, Numpy, TensorFlow, OpenCV, Ceres, Vicon, SolidWorks, AutoCAD 

• Development Environment: Linux, Windows, Mac OS 

• Language: English (Fluent), Korean (Native)

relevant courses

Robotics: Learning in Robotics, Advanced Robotics, Flight Dynamics and Control, Autonomous Mobile Robots, Formal Methods for Robotics, Mobile Manipulation 

Perception: Machine Perception, Data-Driven Robotic Perception and Control, Computer Vision, Image Understanding, Multiple View Geometry, Deep Learning for Computer Vision  

Machine Learning: Principle of Deep Learning, Graph Neural Networks, Advanced Machine Learning, Neural Networks, Deep Learning and AlphaGo  

Controls and Math: Linear Systems Theory, Control Theory, Decision Making and Control, Stochastic Processes, Applied Mathematics, Game Theory, Modern Convex Optimization

Computer Science: Analysis of Algorithms, Computer Architecture, Theory of Computation, Software Systems

Mechanics: Dynamics and Vibration, Foundations of Fluid Mechanics, Mechanics of Structures and Solids

reference