3D perception

LiDAR scanners and other sensors deliver information about the 3D world around the vehicle. Making sense of this information in terms of drivable space and important objects in 3D is required to develop robust driving system that plan and act safely.

Selected publications

  1. LiDPM: Rethinking Point Diffusion for Lidar Scene Completion
    Tetiana Martyniuk, Gilles Puy, Alexandre Boulch, Renaud Marlet, Raoul de Charette
    IV, 2025oral
    Project page pdf Code
  2. UNIT: unsupervised Online Instance Segmentation through Time
    Corentin Sautier, Gilles Puy, Alexandre Boulch, Renaud Marlet, Vincent Lepetit
    3DV, 2025
    pdf Code
  3. LOGen: Toward Lidar Object Generation by Point Diffusion
    Ellington Kirby, Mickaël Chen, Renaud Marlet, Nermin Samet
    under review, 2025
    Project page pdf
  4. ManiPose: Manifold-Constrained Multi-Hypothesis 3D Human Pose Estimation
    Cédric Rommel, Victor Letzelter, Nermin Samet, Renaud Marlet, Matthieu Cord, Patrick Pérez, Eduardo Valle
    NeurIPS, 2024
    pdf Code
  5. Train Till You Drop: Towards Stable and Robust Source-free Unsupervised 3D Domain Adaptation
    Bjoern Michele, Alexandre Boulch, Tuan-Hung Vu, Gilles Puy, Renaud Marlet, Nicolas Courty
    ECCV, 2024
    Project page pdf Code
  6. PAFUSE: Part-based Diffusion for 3D Whole-Body Pose Estimation
    Nermin Samet, Cédric Rommel, David Picard, Eduardo Valle
    ECCV Workshop, 2024
    pdf Code
  8. OccFeat: Self-supervised Occupancy Feature Prediction for Pretraining BEV Segmentation Networks
    Sophia Sirko-Galouchenko, Alexandre Boulch, Spyros Gidaris, Andrei Bursuc, Antonin Vobecky, Patrick Pérez, Renaud Marlet
    CVPR Workshop WAD, 2024
    pdf Code
  9. PointBeV: A Sparse Approach to BeV Predictions
    Loïck Chambon, Éloi Zablocki, Mickaël Chen, Florent Bartoccioni, Patrick Pérez, Matthieu Cord
    CVPR, 2024
    pdf Code
  10. Three Pillars improving Vision Foundation Model Distillation for Lidar
    Gilles Puy, Spyros Gidaris, Alexandre Boulch, Oriane Siméoni, Corentin Sautier, Patrick Pérez, Andrei Bursuc, Renaud Marlet
    CVPR, 2024
    pdf Code
  11. BEVContrast: Self-Supervision in BEV Space for Automotive Lidar Point Clouds
    Corentin Sautier, Gilles Puy, Alexandre Boulch, Renaud Marlet, Vincent Lepetit
    3DV, 2024
    pdf Code
  12. SALUDA: Surface-based Automotive Lidar Unsupervised Domain Adaptation
    Bjoern Michele, Alexandre Boulch, Gilles Puy, Tuan-Hung Vu, Renaud Marlet and Nicolas Courty
    3DV, 2024
    Project page pdf Code Slides
  13. POP-3D: Open-Vocabulary 3D Occupancy Prediction from Images
    Antonin Vobecky, Oriane Siméoni, David Hurych, Spyros Gidaris, Andrei Bursuc, Patrick Pérez, Josef Sivic
    NeurIPS, 2023
    pdf Code
  14. DiffHPE: Robust, Coherent 3D Human Pose Lifting with Diffusion
    Cédric Rommel, Eduardo Valle, Mickaël Chen, Souhaiel Khalfaoui, Renaud Marlet, Matthieu Cord, Patrick Pérez
    ICCV, 2023
    pdf Code
  15. You Never Get a Second Chance To Make a Good First Impression: Seeding Active Learning for 3D Semantic Segmentation
    Nermin Samet, Oriane Siméoni, Gilles Puy, Georgy Ponimatkin, Renaud Marlet, and Vincent Lepetit
    ICCV, 2023
    pdf Code
  16. Using a Waffle Iron for Automotive Point Cloud Semantic Segmentation
    Gilles Puy, Alexandre Boulch, and Renaud Marlet
    ICCV, 2023
    pdf Code
  17. ALSO: Automotive Lidar Self-supervision by Occupancy estimation
    Alexandre Boulch, Corentin Sautier, Björn Michele, Gilles Puy, Renaud Marlet
    CVPR, 2023
    pdf Code
  18. RangeViT: Towards Vision Transformers for 3D Semantic Segmentation in Autonomous Driving
    Angelika Ando, Spyros Gidaris, Andrei Bursuc, Gilles Puy, Alexandre Boulch, and Renaud Marlet
    CVPR, 2023
    pdf Code
  19. LaRa: Latents and Rays for Multi-Camera Bird's-Eye-View Semantic Segmentation
    Florent Bartoccioni, Éloi Zablocki, Andrei Bursuc, Patrick Pérez, Matthieu Cord, Karteek Alahari
    CoRL, 2022
    pdf Code
  20. LiDARTouch: Monocular metric depth estimation with a few-beam LiDAR
    Florent Bartoccioni, Éloi Zablocki, Patrick Pérez, Matthieu Cord, Karteek Alahari
    CVIU, 2022
    pdf Code
  21. Multi-Modal 3D GAN for Urban Scenes
    Loïck Chambon, Mickaël Chen, Tuan-Hung Vu, Alexandre Boulch, Andrei Bursuc, Matthieu Cord, Patrick Pérez
    NeurIPS ML4AD Workshop, 2022
    pdf Slides
  22. Drive&Segment: Unsupervised Semantic Segmentation of Urban Scenes via Cross-modal Distillation
    Antonin Vobecky, Oriane Siméoni, David Hurych, Spyros Gidaris, Andrei Bursuc, Patrick Pérez, Josef Sivic
    ECCV, 2022oral
    pdf Code
  23. Deep Surface Reconstruction from Point Clouds with Visibility Information
    Raphael Sulzer, Loic Landrieu, Alexandre Boulch, Renaud Marlet and Bruno Vallet
    ICPR, 2022
    pdf Code
  24. VASAD: a Volume and Semantic dataset for Building Reconstruction from Point Clouds
    Pierre-Alain Langlois, Yang Xiao, Alexandre Boulch, Renaud Marlet
    ICPR, 2022
    pdf Code
  25. POCO: Point Convolution for Surface Reconstruction
    Alexandre Boulch and Renaud Marlet
    CVPR, 2022
    pdf Code
  26. Image-to-Lidar Self-Supervised Distillation for Autonomous Driving Data
    Corentin Sautier, Gilles Puy, Spyros Gidaris, Alexandre Boulch, Andrei Bursuc, and Renaud Marlet
    CVPR, 2022
    pdf Code
  27. Cross-modal Learning for Domain Adaptation in 3D Semantic Segmentation
    Maximilian Jaritz, Tuan-Hung Vu, Raoul de Charette, Émilie Wirbel, and Patrick Pérez
    T-PAMI, 2022
    pdf Code
  28. Generative Zero-Shot Learning for Semantic Segmentation of 3D Point Clouds
    Bjoern Michele, Alexandre Boulch, Gilles Puy, Maxime Bucher, and Renaud Marlet
    3DV, 2021
    pdf Code Slides
  29. NeeDrop: Unsupervised Shape Representation from Sparse Point Clouds using Needle Dropping
    Alexandre Boulch, Pierre-Alain Langlois, Gilles Puy, and Renaud Marlet
    3DV, 2021
    pdf Code
  31. PCAM: Product of Cross-Attention Matrices for Rigid Registration of Point Clouds
    Anh-Quan Cao, Gilles Puy, Alexandre Boulch, and Renaud Marlet
    ICCV, 2021
    pdf Code
  32. Scalable Surface Reconstruction with Delaunay-Graph Neural Networks
    Raphael Sulzer, Loic Landrieu, Renaud Marlet, Bruno Vallet
    CGF, 2021
    pdf Code
  33. 3D Reconstruction by Parameterized Surface Mapping
    Pierre-Alain Langlois, Matthew Fisher, Oliver Wang, Vladimir Kim, Alexandre Boulch, Renaud Marlet, Bryan Russell
    ICIP, 2021
    pdf
  34. STaRFlow: A SpatioTemporal Recurrent Cell for Lightweight Multi-Frame Optical Flow Estimation
    Pierre Godet, Alexandre Boulch, Aurelien Plyer and Guy Le Besnerais
    ICPR, 2020
    pdf Code
  35. FKAConv: Feature-Kernel Alignment for Point Cloud Convolution
    Alexandre Boulch, Gilles Puy, and Renaud Marlet
    ACCV, 2020
    pdf Code
  36. FLOT: Scene Flow on Point Clouds guided by Optimal Transport
    Gilles Puy, Alexandre Boulch, and Renaud Marlet
    ECCV, 2020
    pdf Code