3D perception

Each sensor delivers information about the 3D world around the vehicle. Making sense of this information in terms of drivable space and important objects (road users, curb, obstacles, street furnitures) in 3D is required for the driving system to plan and act in the safest and most confortable way. This encompasses several challenging tasks, in particular detection and segmentation of objects in point clouds as in FKAConv at ACCV’20.

Publications

BEVContrast: Self-Supervision in BEV Space for Automotive Lidar Point Clouds

Corentin Sautier, Gilles Puy, Alexandre Boulch, Renaud Marlet, Vincent Lepetit
International Conference on 3D Vision (3DV), 2024


SALUDA: Surface-based Automotive Lidar Unsupervised Domain Adaptation

Bjoern Michele, Alexandre Boulch, Gilles Puy, Tuan-Hung Vu, Renaud Marlet and Nicolas Courty
International Conference on 3D Vision (3DV), 2024


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
International Conference on Computer Vision (ICCV), 2023


Using a Waffle Iron for Automotive Point Cloud Semantic Segmentation

Gilles Puy, Alexandre Boulch, and Renaud Marlet
International Conference on Computer Vision (ICCV), 2023


DiffHPE: Robust, Coherent 3D Human Pose Lifting with Diffusion

Cédric Rommel, Eduardo Valle, Mickaël Chen, Souhaiel Khalfaoui, Renaud Marlet, Matthieu Cord, Patrick Pérez
International Conference on Computer Vision (ICCV) Workshop, 2023


ALSO: Automotive Lidar Self-supervision by Occupancy estimation

Alexandre Boulch, Corentin Sautier, Björn Michele, Gilles Puy, Renaud Marlet
Computer Vision and Pattern Recognition (CVPR), 2023


RangeViT: Towards Vision Transformers for 3D Semantic Segmentation in Autonomous Driving

Angelika Ando, Spyros Gidaris, Andrei Bursuc, Gilles Puy, Alexandre Boulch, and Renaud Marlet
Computer Vision and Pattern Recognition (CVPR), 2023


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


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


POCO: Point Convolution for Surface Reconstruction

Alexandre Boulch and Renaud Marlet
Computer Vision and Pattern Recognition (CVPR), 2022


Image-to-Lidar Self-Supervised Distillation for Autonomous Driving Data

Corentin Sautier, Gilles Puy, Spyros Gidaris, Alexandre Boulch, Andrei Bursuc, and Renaud Marlet
Computer Vision and Pattern Recognition (CVPR), 2022


NeeDrop: Unsupervised Shape Representation from Sparse Point Clouds using Needle Dropping

Alexandre Boulch, Pierre-Alain Langlois, Gilles Puy, and Renaud Marlet
International Conference on 3D Vision (3DV), 2021


Generative Zero-Shot Learning for Semantic Segmentation of 3D Point Clouds

Bjoern Michele, Alexandre Boulch, Gilles Puy, Maxime Bucher, and Renaud Marlet
International Conference on 3D Vision (3DV), 2021


PCAM: Product of Cross-Attention Matrices for Rigid Registration of Point Clouds

Anh-Quan Cao, Gilles Puy, Alexandre Boulch, and Renaud Marlet
International Conference on Computer Vision (ICCV), 2021


STaRFlow: A SpatioTemporal Recurrent Cell for Lightweight Multi-Frame Optical Flow Estimation

Pierre Godet, Alexandre Boulch, Aurelien Plyer and Guy Le Besnerais
International Conference on Pattern Recognition (ICPR), 2020


FKAConv: Feature-Kernel Alignment for Point Cloud Convolutiont

Alexandre Boulch, Gilles Puy, and Renaud Marlet
Asian Conference on Computer Vision (ACCV), 2020


FLOT: Scene Flow on Point Clouds guided by Optimal Transport

Gilles Puy, Alexandre Boulch, and Renaud Marlet
European Conference on Computer Vision (ECCV), 2020


ConvPoint: Continuous Convolutions for Point Cloud Processing

Alexandre Boulch
Computers & Graphics Journal, 2020