Lionel Heng is the Deputy Lab Head and a Senior Member of Technical Staff in the Manned - Unmanned Programme at DSO National Laboratories. Currently, he works at the intersection of 3D computer vision and field robotics, and in particular, works on multi-sensor calibration, localization, perception, and planning for self-driving cars. He did his Ph.D. in computer science at the Computer Vision and Geometry Group at ETH Zürich from 2010 to 2014 and under the supervision of Prof. Marc Pollefeys. At ETH Zürich, he did research on autonomous vision-guided robots that included quadrotor/hexacopter MAVs and drive-by-wire cars. His research included self-calibration of multi-camera systems, SLAM with a multi-camera system, stereo-based environment mapping, path planning, exploration, and coverage. He participated in two European-Commission-funded research projects: sFly and V-Charge, that involved vision-guided robots and collaboration across multiple academic and industry partners. He received his undergraduate degree in computer science with an additional major in economics from Carnegie Mellon University in 2006, and his Master's degree in computer science from Stanford University in 2007.

Email: lionel.heng at

Google Scholar Profile

Curriculum Vitae


Internship Opportunities

I am always on the lookout for passionate interns to work with. If you are interested in doing an internship in my lab, do get in touch with me via email as long as you meet these internship requirements:

  1. Singapore citizenship.
  2. Hardcore programming skills.
  3. Solid background in computer vision / robotics.
  4. Ability to develop and transform good theory into high-performance real-world applications.

Past Students (ETH Zürich)

2015: Shengdong Xu (Master's thesis: Real-Time 3D Navigation for Autonomous Vision-Guided MAVs)
2015: Jason Wu (Master's thesis: Learning and Online Recalibration of an Articulated Camera System)
2013: Bo Li (Master's thesis: Multiple-Camera System Calibration Using a Feature Descriptor-Based Calibration Pattern)

Professional Activities

I have reviewed papers for the following conferences and journals:

Computer Vision and Image Understanding (CVIU) 
European Conference on Computer Vision (ECCV) 
IEEE Intelligent Vehicles Symposium (IV)
IEEE International Conference on Intelligent Robots and Systems (IROS) 
IEEE International Conference on Robotics and Automation (ICRA) 
IEEE Transactions on Image Processing (TIP)
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI)
IEEE Transactions on Robotics (T-RO) 
Journal of Field Robotics (JFR)
Robotics and Autonomous Systems (RAS)