Multi-sensor perception

Automated driving relies first on a diverse range of sensors, like fish-eye and pinhole camera rigs, LiDARs, microphones, radars, and ultrasonics. Exploiting at best the outputs of each of these sensors at any instant is fundamental to understand the complex environment of the vehicle and gain robustness

Selected publications

  1. LOGen: Toward Lidar Object Generation by Point Diffusion
    Ellington Kirby, Mickaël Chen, Renaud Marlet, Nermin Samet
    under review, 2025
    Project page pdf
  2. Valeo4Cast: A Modular Approach to End-to-End Forecasting
    Yihong Xu, Éloi Zablocki, Alexandre Boulch, Gilles Puy, Mickael Chen, Florent Bartoccioni, Nermin Samet, Oriane Siméoni, Spyros Gidaris, Tuan-Hung Vu, Andrei Bursuc, Eduardo Valle, Renaud Marlet, Matthieu Cord
    ECCV Workshop ROAD++ and Winning solution to the "Unified Detection, Tracking and Forecasting" Argoverse 2 challenge @CVPR Worshop on Autonomous Driving (WAD), 2024Winning solution to the "Unified Detection, Tracking and Forecasting" Argoverse 2 challenge @CVPR
    pdf Code Video
  3. 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 on Autonomous Driving (WAD), 2024
    pdf Code
  4. PointBeV: A Sparse Approach to BeV Predictions
    Loïck Chambon, Éloi Zablocki, Mickaël Chen, Florent Bartoccioni, Patrick Pérez, Matthieu Cord
    Computer Vision and Pattern Recognition, 2024
    pdf Code
  5. POP-3D: Open-Vocabulary 3D Occupancy Prediction from Images
    Antonin Vobecky, Oriane Siméoni, David Hurych, Spyros Gidaris, Andrei Bursuc, Patrick Pérez, Josef Sivic
    Advances in Neural Information Processing Systems (NeurIPS), 2023
    pdf Code
  6. Resilient Multiple Choice Learning: A learned scoring scheme with application to audio scene analysis
    Victor Letzelter, Mathieu Fontaine, Mickaël Chen, Patrick Pérez, Slim Essid, and Gaël Richard
    Advances in Neural Information Processing Systems (NeurIPS), 2023
    pdf Code Slides
  7. 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
    Conference on Robot Learning, 2022
    pdf Code
  8. LiDARTouch: Monocular metric depth estimation with a few-beam LiDAR
    Florent Bartoccioni, Éloi Zablocki, Patrick Pérez, Matthieu Cord, Karteek Alahari
    Computer Vision and Image Understanding (CVIU), 2022
    pdf Code
  9. Multi-Modal 3D GAN for Urban Scenes
    Loïck Chambon, Mickaël Chen, Tuan-Hung Vu, Alexandre Boulch, Andrei Bursuc, Matthieu Cord, Patrick Pérez
    NeurIPS Machine Learning for Autonomous Driving Workshop, 2022
    pdf Slides
  10. 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
    European Conference on Computer Vision (ECCV), 2022oral
    pdf Code
  11. Raw High-Definition Radar for Multi-Task Learning
    Julien Rebut, Arthur Ouaknine, Waqas Malik, and Patrick Pérez
    Computer Vision and Pattern Recognition, 2022
    pdf Code
  12. Cross-modal Learning for Domain Adaptation in 3D Semantic Segmentation
    Maximilian Jaritz, Tuan-Hung Vu, Raoul de Charette, Émilie Wirbel, and Patrick Pérez
    IEEE Transactions on Pattern Analysis and Machine Intelligence, 2022
    pdf Code
  13. Multi-View Radar Semantic Segmentation
    Arthur Ouaknine, Alasdair Newson, Patrick Pérez, Florence Tupin and Julien Rebut
    International Conference on Computer Vision (ICCV), 2021
    Project page pdf Code
  14. CARRADA Dataset: Camera and Automotive Radar with Range-Angle-Doppler Annotations
    Arthur Ouaknine, Alasdair Newson, Julien Rebut, Florence Tupin and Patrick Pérez
    International Conference on Pattern Recognition (ICPR), 2020
    Project page pdf Code
  15. PLOP: Probabilistic poLynomial Objects trajectory Prediction for autonomous driving
    Thibault Buhet, Emilie Wirbel, Andrei Bursuc and Xavier Perrotton
    Conference on Robot Learning (CoRL), 2020
    pdf
  16. Dynamic Task Weighting Methods for Multi-task Networks in Autonomous Driving Systems
    Isabelle Leang, Ganesh Sistu, Fabian Burger, Andrei Bursuc, and Senthil Yogamani
    IEEE International Conference on Intelligent Transportation Systems (ITSC), 2020
    pdf
  17. xMUDA: Cross-Modal Unsupervised Domain Adaptation for 3D Semantic Segmentation
    Maximilian Jaritz, Tuan-Hung Vu, Raoul de Charette, Émilie Wirbel, and Patrick Pérez
    Computer Vision and Pattern Recognition, 2020
    pdf Code
  18. VRUNet: Multi-Task Learning Model for Intent Prediction of Vulnerable Road Users
    Adithya Ranga, Filippo Giruzzi, Jagdish Bhanushali, Emilie Wirbel, Patrick Pérez, Tuan-Hung Vu, Xavier Perotton
    Electronic Imaging, 2020
    pdf