Experience

Visiting researcher, KU Leuven

2023 Sep - 2024 Feb

• Advisor: Dr. Patrick Vandewalle
• Research Topic: Robust Correspondence-Based Point Cloud Registration

Postdoctoral researcher, University of Zaragoza

2023 Apr - Present

• Advisor: Dr. Javier Civera
• Research Topic: Robust Estimation in Multiple View Geometry

PhD Student, University of Zaragoza

2017 Sep - 2023 Feb

• Advisor: Dr. Javier Civera
• Research Topic: Visual SLAM and multiple view geometry
• Thesis: Why do we optimize what we optimize in multiple view geometry?

Computer Vision Intern, Wikitude

2016 Feb - Jul

• Investigate the state-of-the-art 3D visual SLAM methods for AR applications on mobile devices.

Education

MSc Aerospace Engineering, TU Delft

2014-2017

• Program: Control and Simulation
• Thesis Advisor: Prof. Guido de Croon
• Thesis: Stability-based Scale Estimation of Monocular SLAM for Autonomous Quadrotor Navigation

BSc Aerospace Engineering, TU Delft

2011-2014

• Cum Laude
• Graduation project: BirdPlane – Designing a bio-inspired flapping-wing aircraft
• This project won UfD-Damen Bachelor Award 2015 with €2,500 grant.

Publications

PCR-99: A Practical Method for Point Cloud Registration with 99% Outliers

• Seong Hun Lee, Javier Civera, Patrick Vandewalle
• Preprint, 2024
• arXiv, Matlab code

Robust Single Rotation Averaging Revisited

• Seong Hun Lee and Javier Civera
• Preprint, 2023
• arXiv, Matlab code

What’s Wrong with the Absolute Trajectory Error?

• Seong Hun Lee and Javier Civera
• Preprint, 2023
• arXiv, Matlab code.

Why Do We Optimize What We Optimize in Multiple View Geometry?

• PhD Thesis, 2022
• PDF

RODIAN: Robustified Median

• Seong Hun Lee and Javier Civera
• Preprint, 2022
• arXiv, Matlab code.

HARA: A Hierarchical Approach for Robust Rotation Averaging

• Seong Hun Lee and Javier Civera
• IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022
• arXiv, Video, Poster, Supplementary material, Matlab code.

Rotation-Only Bundle Adjustment

• Seong Hun Lee and Javier Civera
• IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021
• arXiv, Video, Poster, Presentation, Supplementary material, Matlab code

Geometric Interpretations of the Normalized Epipolar Error

• Seong Hun Lee and Javier Civera
• Preprint, 2020
• arXiv

Robust Uncertainty-Aware Multiview Triangulation

• Seong Hun Lee and Javier Civera
• Preprint, 2020
• arXiv, Supplementary material, Matlab code

Robust Single Rotation Averaging

• Seong Hun Lee and Javier Civera
• Preprint, 2020
• arXiv, Matlab code

RGB-D Odometry and SLAM

• Javier Civera and Seong Hun Lee
• RGB-D Image Analysis and Processing, 2019
• arXiv

Triangulation: Why Optimize?

• Seong Hun Lee and Javier Civera
• British Machine Vision Conference (BMVC), 2019
• arXiv, Presentation video, Presentation slides, Poster

Closed-Form Optimal Two-View Triangulation Based on Angular Errors

• Seong Hun Lee and Javier Civera
• IEEE International Conference on Computer Vision (ICCV), 2019
• arXiv, Poster

Loosely-Coupled Semi-Direct Monocular SLAM

• Seong Hun Lee and Javier Civera
• IEEE Robotics and Automation Letters (RA-L), April 2019
• arXiv, Poster, Video demo, Source code

Stability-based Scale Estimation for Monocular SLAM

• Seong Hun Lee and Guido de Croon
• IEEE Robotics and Automation Letters (RA-L), April 2018.
• Poster, Video demo, Source code

Miscellaneous Codes

Pseudorandom Pair Sampling Without Replacement (MATLAB)

Random 3 x 3 rotation matrix generation (MATLAB)