Seong Hun Lee
Hi! I do research on visual SLAM, SfM and multiple view geometry.
Experience
Postdoctoral researcher, University of Zaragoza
2023 Apr - 2024 Oct, 2025 Oct - Present
- Advisor: Dr. Javier Civera
- Research Topic: Robust and Scalable Algorithms in 3D Vision
Postdoctoral researcher, KU Leuven
2024 Oct - 2025 Sep
- Advisor: Dr. Patrick Vandewalle
- Research Topic: Robust Correspondence-Based Point Cloud Registration
Visiting researcher, KU Leuven
2023 Sep - 2024 Feb
- Advisor: Dr. Patrick Vandewalle
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
An Efficient Closed-Form Solution to Full Visual-Inertial State Initialization
- Samuel Cerezo, Seong Hun Lee and Javier Civera
- IEEE Robotics and Automation Letters (RA-L), 2026
- arXiv
P3P Made Easy
- Seong Hun Lee, Patrick Vandewalle, Javier Civera
- Preprint, 2025
- arXiv, C++ code.
Alignment Scores: Robust Metrics for Multiview Pose Accuracy Evaluation
- Seong Hun Lee and Javier Civera
- ICCV Workshop, 2024
- arXiv, Matlab code
PCR-99: A Practical Method for Point Cloud Registration with 99 percent Outliers
- Seong Hun Lee, Javier Civera, Patrick Vandewalle
- ECCV Workshop, 2024
- arXiv, Matlab code
Robust Single Rotation Averaging Revisited
- Seong Hun Lee and Javier Civera
- ECCV Workshop, 2024
- arXiv, Matlab code
What’s Wrong with the Absolute Trajectory Error?
- Seong Hun Lee and Javier Civera
- ECCV Workshop, 2024
- arXiv, Matlab code.
Why Do We Optimize What We Optimize in Multiple View Geometry?
- PhD Thesis, 2022
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