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. 2026

  2. OccAny: Generalized Unconstrained Urban 3D Occupancy
  3. R3DPA: Leveraging 3D Representation Alignment and RGB Pretrained Priors for LiDAR Scene Generation
    R3DPA: Leveraging 3D Representation Alignment and RGB Pretrained Priors for LiDAR Scene Generation
    Nicolas Sereyjol-Garros, Ellington Kirby, Victor Besnier, Nermin Samet
    ICRA 2026
    pdf Code
  4. Is clustering enough for LiDAR instance segmentation? A state-of-the-art training-free baseline
    Is clustering enough for LiDAR instance segmentation? A state-of-the-art training-free baseline
    Corentin Sautier, Gilles Puy, Alexandre Boulch, Renaud Marlet, Vincent Lepetit
    3DV 2026
    pdf Code
  5. LOSC: LiDAR Open-voc Segmentation Consolidator
    LOSC: LiDAR Open-voc Segmentation Consolidator
    Nermin Samet, Gilles Puy, Renaud Marlet
    3DV 2026oral
    pdf

  6. 2025

  7. LED: Light Enhanced Depth Estimation at Night
    LED: Light Enhanced Depth Estimation at Night
    Simon de Moreau, Yasser Almehio, Andrei Bursuc, Hafid El-Idrissi, Bogdan Stanciulescu, Fabien Moutarde
    BMVC 2025
    Project pdf Code
  8. LOGen: Toward Lidar Object Generation by Point Diffusion
    LOGen: Toward Lidar Object Generation by Point Diffusion
    Ellington Kirby, Mickaël Chen, Renaud Marlet, Nermin Samet
    BMVC 2025
    Project pdf
  9. Improving Multimodal Distillation for 3D Semantic Segmentation under Domain Shift
    Improving Multimodal Distillation for 3D Semantic Segmentation under Domain Shift
    Björn Michele, Alexandre Boulch, Gilles Puy, Tuan-Hung Vu, Renaud Marlet, Nicolas Courty
    BMVC 2025
    pdf Code
  10. SuperQuadricOcc: Multi-Layer Gaussian Approximation of Superquadrics for Real-Time Self-Supervised Occupancy Estimation
    SuperQuadricOcc: Multi-Layer Gaussian Approximation of Superquadrics for Real-Time Self-Supervised Occupancy Estimation
    Seamie Hayes, Reenu Mohandas, Tim Brophy, Alexandre Boulch, Ganesh Sistu, Ciaran Eising
    preprint 2025
    pdf Code
  11. Tracking-Aware Deformation Field Estimation for Non-rigid 3D Reconstruction in Robotic Surgeries
  12. GaussRender: Learning 3D Occupancy with Gaussian Rendering
    GaussRender: Learning 3D Occupancy with Gaussian Rendering
    Loick Chambon, Éloi Zablocki, Alexandre Boulch, Mickael Chen, Matthieu Cord
    ICCV 2025
    pdf Code
  13. 3D Human Pose and Shape Estimation from LiDAR Point Clouds: A Review
    3D Human Pose and Shape Estimation from LiDAR Point Clouds: A Review
    Salma Galaaoui, Eduardo Valle, David Picard, Nermin Samet
    preprint 2025
    pdf Code
  14. LiDPM: Rethinking Point Diffusion for Lidar Scene Completion
    LiDPM: Rethinking Point Diffusion for Lidar Scene Completion
    Tetiana Martyniuk, Gilles Puy, Alexandre Boulch, Renaud Marlet, Raoul de Charette
    IV 2025oral
    Project pdf Code
  15. UNIT: unsupervised Online Instance Segmentation through Time
    UNIT: unsupervised Online Instance Segmentation through Time
    Corentin Sautier, Gilles Puy, Alexandre Boulch, Renaud Marlet, Vincent Lepetit
    3DV 2025
    pdf Code

  16. 2024

  17. ManiPose: Manifold-Constrained Multi-Hypothesis 3D Human Pose Estimation
    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
  18. Train Till You Drop: Towards Stable and Robust Source-free Unsupervised 3D Domain Adaptation
    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 pdf Code
  19. PAFUSE: Part-based Diffusion for 3D Whole-Body Pose Estimation
    PAFUSE: Part-based Diffusion for 3D Whole-Body Pose Estimation
    Nermin Samet, Cédric Rommel, David Picard, Eduardo Valle
    ECCV Workshop 2024
    pdf Code
  20. Learning Kernel-Modulated Neural Representation for Efficient Light Field Compression
  21. OccFeat: Self-supervised Occupancy Feature Prediction for Pretraining BEV Segmentation Networks
    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
  22. PointBeV: A Sparse Approach to BeV Predictions
    PointBeV: A Sparse Approach to BeV Predictions
    Loïck Chambon, Éloi Zablocki, Mickaël Chen, Florent Bartoccioni, Patrick Pérez, Matthieu Cord
    CVPR 2024
    pdf Code
  23. Three Pillars improving Vision Foundation Model Distillation for Lidar
    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
  24. BEVContrast: Self-Supervision in BEV Space for Automotive Lidar Point Clouds
    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
  25. SALUDA: Surface-based Automotive Lidar Unsupervised Domain Adaptation
    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 pdf Code Slides

  26. 2023

  27. POP-3D: Open-Vocabulary 3D Occupancy Prediction from Images
    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
  28. DiffHPE: Robust, Coherent 3D Human Pose Lifting with Diffusion
    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
  29. You Never Get a Second Chance To Make a Good First Impression: Seeding Active Learning for 3D Semantic Segmentation
    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
  30. Using a Waffle Iron for Automotive Point Cloud Semantic Segmentation
    Using a Waffle Iron for Automotive Point Cloud Semantic Segmentation
    Gilles Puy, Alexandre Boulch, and Renaud Marlet
    ICCV 2023
    pdf Code
  31. ALSO: Automotive Lidar Self-supervision by Occupancy estimation
    ALSO: Automotive Lidar Self-supervision by Occupancy estimation
    Alexandre Boulch, Corentin Sautier, Björn Michele, Gilles Puy, Renaud Marlet
    CVPR 2023
    pdf Code
  32. RangeViT: Towards Vision Transformers for 3D Semantic Segmentation in Autonomous Driving
    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

  33. 2022

  34. LaRa: Latents and Rays for Multi-Camera Bird's-Eye-View Semantic Segmentation
    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
  35. LiDARTouch: Monocular metric depth estimation with a few-beam LiDAR
    LiDARTouch: Monocular metric depth estimation with a few-beam LiDAR
    Florent Bartoccioni, Éloi Zablocki, Patrick Pérez, Matthieu Cord, Karteek Alahari
    CVIU 2022
    pdf Code
  36. Drive&Segment: Unsupervised Semantic Segmentation of Urban Scenes via Cross-modal Distillation
    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
  37. Deep Surface Reconstruction from Point Clouds with Visibility Information
    Deep Surface Reconstruction from Point Clouds with Visibility Information
    Raphael Sulzer, Loic Landrieu, Alexandre Boulch, Renaud Marlet and Bruno Vallet
    ICPR 2022
    pdf Code
  38. VASAD: a Volume and Semantic dataset for Building Reconstruction from Point Clouds
    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
  39. POCO: Point Convolution for Surface Reconstruction
    POCO: Point Convolution for Surface Reconstruction
    Alexandre Boulch and Renaud Marlet
    CVPR 2022
    pdf Code
  40. Image-to-Lidar Self-Supervised Distillation for Autonomous Driving Data
    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
  41. Cross-modal Learning for Domain Adaptation in 3D Semantic Segmentation
    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

  42. 2021

  43. Generative Zero-Shot Learning for Semantic Segmentation of 3D Point Clouds
    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
  44. NeeDrop: Unsupervised Shape Representation from Sparse Point Clouds using Needle Dropping
    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
  45. PoseContrast: Class-Agnostic Object Viewpoint Estimation in the Wild with Pose-Aware Contrastive Learning
  46. PCAM: Product of Cross-Attention Matrices for Rigid Registration of Point Clouds
    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
  47. Scalable Surface Reconstruction with Delaunay-Graph Neural Networks
    Scalable Surface Reconstruction with Delaunay-Graph Neural Networks
    Raphael Sulzer, Loic Landrieu, Renaud Marlet, Bruno Vallet
    CGF 2021
    pdf Code
  48. 3D Reconstruction by Parameterized Surface Mapping
    3D Reconstruction by Parameterized Surface Mapping
    Pierre-Alain Langlois, Matthew Fisher, Oliver Wang, Vladimir Kim, Alexandre Boulch, Renaud Marlet, Bryan Russell
    ICIP 2021
    pdf

  49. 2020

  50. STaRFlow: A SpatioTemporal Recurrent Cell for Lightweight Multi-Frame Optical Flow Estimation
    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
  51. FKAConv: Feature-Kernel Alignment for Point Cloud Convolution
    FKAConv: Feature-Kernel Alignment for Point Cloud Convolution
    Alexandre Boulch, Gilles Puy, and Renaud Marlet
    ACCV 2020
    pdf Code
  52. FLOT: Scene Flow on Point Clouds guided by Optimal Transport
    FLOT: Scene Flow on Point Clouds guided by Optimal Transport
    Gilles Puy, Alexandre Boulch, and Renaud Marlet
    ECCV 2020
    pdf Code
  53. ConvPoint: Continuous Convolutions for Point Cloud Processing

  54. 2019

  55. WoodScape: A multi-task, multi-camera fisheye dataset for autonomous driving
    WoodScape: A multi-task, multi-camera fisheye dataset for autonomous driving
    Senthil Yogamani, Ciarán Hughes, Jonathan Horgan, Ganesh Sistu, Padraig Varley, Derek O'Dea, Michal Uricár, Stefan Milz, Martin Simon, Karl Amende, Christian Witt, Hazem Rashed, Sumanth Chennupati, Sanjaya Nayak, Saquib Mansoor, Xavier Perrotton, Patrick Pérez
    ICCV 2019oral
    pdf Code