profile

Francis Engelmann

I am a postdoc at Stanford University with Prof. Leonidas Guibas and Prof. Jeannette Bohg. Previously, I was a postdoctoral research fellow at ETH Zurich AI Center working with Prof. Dr. Marc Pollefeys, and a visiting researcher with Federico Tombari at Google Zurich. Before joining ETH Zurich, I finished my Ph.D. in Computer Vision, Machine Learning and 3D Scene Understanding in the Computer Vision Group of Prof. Dr. Bastian Leibe at RWTH Aachen University and spent some time at Google X in Munich with Martin Bokeloh and Google Research Zurich with Kostas Rematas, as well as Apple in California.

       

News



Publications

  • P2P-Bridge: Diffusion Bridges for 3D Point Cloud Denoising
    Mathias Vogel, Keisuke Tateno, Marc Pollefeys, Federico Tombari, Marie-Julie Rakotosaona, Francis Engelmann
    European Conference on Computer Vision (ECCV), 2024.
    Paper Project Code

    @inproceedings{delitzas2024scenefun3d, 
        author = {Vogel, Mathias and Tateno, Keisuke and Pollefeys, Marc and Tombari, Federico and Rakotosaona, Marie-Julie and Engelmann, Francis}, 
        title = {P2P-Bridge: Diffusion Bridges for 3D Point Cloud Denoising}, 
        booktitle = {{European Conference on Computer Vision (ECCV)}},
        year = {2024}
    }

  • Segment3D: Learning Fine-Grained Class-Agnostic 3D Segmentation without Manual Labels
    Rui Huang, Songyou Peng, Ayça Takmaz, Federico Tombari, Marc Pollefeys, Shiji Song, Gao Huang, Francis Engelmann
    European Conference on Computer Vision (ECCV), 2024.
    Paper Project Demo

      @inproceedings{Huang2023Segment3D,
            author    = {Huang, Rui and Peng, Songyou and Takmaz, Ayca and Tombari, Federico and Pollefeys, Marc and Song, Shiji and Huang, Gao and Engelmann, Francis},
            title     = {{Segment3D: Learning Fine-Grained Class-Agnostic 3D Segmentation without Manual Labels}},
            booktitle = {{European Conference on Computer Vision (ECCV)}},
            year      = {2024}
          }

  • SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs
    Yang Miao, Francis Engelmann, Olga Vysotska, Federico Tombari, Marc Pollefeys, Dániel Béla Baráth
    European Conference on Computer Vision (ECCV), 2024.
    Paper Project Code

    @inproceedings{miao2024scenegraphloc,
      author    = {Miao, Yang and Engelmann, Francis and Vysotska, Olga and Tombari, Federico and Pollefeys, Marc and Baráth, Dániel Béla},
      title     = {{SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs}},
      booktitle = {{European Conference on Computer Vision (ECCV)}},
      year      = {2024}
    }

  • FiT3D: Improving 2D Feature Representations by 3D-Aware Fine-Tuning
    Yuanwen Yue, Anurag Das, Francis Engelmann, Siyu Tang, Jan Eric Lenssen
    European Conference on Computer Vision (ECCV), 2024.
    Paper Project Code

    @inproceedings{miao2024scenegraphloc,
      author    = {Yue, Yuanwen and Das, Anurag and Engelmann, Francis and Tang, Siyu and Lenssen, Jan Eric},
      title     = {{Improving 2D Feature Representations by 3D-Aware Fine-Tuning}},
      booktitle = {European Conference on Computer Vision (ECCV)},
      year      = {2024}
    }

  • SceneFun3D: Fine-Grained Functionality and Affordance Understanding in 3D Scenes
    Alexandros Delitzas, Ayca Takmaz, Federico Tombari, Robert Sumner, Marc Pollefeys, Francis Engelmann
    Proc. Computer Vision and Pattern Recognition (CVPR), 2024.
    🏆 Oral Presentation
    Paper Project

    @inproceedings{delitzas2024scenefun3d, 
        author = {Alexandros Delitzas and Ayca Takmaz and Federico Tombari and Robert Sumner and Marc Pollefeys and Francis Engelmann}, 
        title = {SceneFun3D: Fine-Grained Functionality and Affordance Understanding in 3D Scenes}, 
        booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, 
        year = {2024}
    }

  • Spot-Compose: A Framework for Open-Vocabulary Object Retrieval and Drawer Manipulation in Point Clouds
    Oliver Lemke, Zuria Bauer, René Zurbrügg, Marc Pollefeys, Francis Engelmann*, Hermann Blum*
    🏆 Best Paper Award (ICRA MOMA.v2 workshop)

    Proc. International Conference on Robotics and Automation Workshops (ICRAW), 2024.
    Paper Project

    @article{zurbrugg2024icgnet,
      title     = {{Spot-Compose: A Framework for Open-Vocabulary Object Retrieval and Drawer Manipulation in Point Clouds}},
      author={Oliver Lemke and Zuria Bauer and Ren{\'e} Zurbr{\"u}gg and Marc Pollefeys and Francis Engelmann and Hermann Blum},
      journal   = {Internationl Conference on Robotics and Automation Workshops (ICRAW)},
      year      = {2024}
    }

  • ICGNet: A Unified Approach for Instance-Centric Grasping
    René Zurbrügg, Yifan Liu, Francis Engelmann, Suryansh Kumar, Marco Hutter, Vaishakh Patil, Fisher Yu
    Proc. International Conference on Robotics and Automation (ICRA), 2024.
    Paper Project

    @inproceedings{zurbrugg2024icgnet,
      title = {{ICGNet: A Unified Approach for Instance-Centric Grasping}},
      author = {Zurbr{\"u}gg, Ren{\'e} and Liu, Yifan and Engelmann, Francis and Kumar, Suryansh and Hutter, Marco and Patil, Vaishakh and Yu, Fisher},
      booktitle = {Internationl Conference on Robotics and Automation (ICRA)},
      year = {2024}
    }

  • OpenMask3D: Open-Vocabulary 3D Instance Segmentation
    Ayca Takmaz, Elisabetta Fedele, Robert Sumner, Marc Pollefeys, Federico Tombari, Francis Engelmann
    Conference on Neural Information Processing Systems (NeurIPS), 2023.
    Paper Project Code

    @inproceedings{Takmaz2023openmask3d,
        title = {{OpenMask3D: Open-Vocabulary 3D Instance Segmentation}},
        author={Takmaz, Ay{\c{c}}a and Fedele, Elisabetta and Sumner, Robert W and Pollefeys, Marc and Tombari, Federico and Engelmann, Francis},
        booktitle = {Conference on Neural Information Processing Systems (NeurIPS)},
        year = {2023}
    }

  • LabelMaker: Automatic Semantic Label Generation from RGB-D Trajectories
    Silvan Weder, Hermann Blum, Francis Engelmann Marc Pollefeys
    International Conference on 3D Vision (3DV), 2024.
    🏆 Spotlight Presentation
    Paper Project Code

    @inproceedings{Weder2024labelmaker3d,
        title = {{LabelMaker: Automatic Semantic Label Generation from RGB-D Trajectories}},
        author={Weder, Silvan and Blum, Hermann and Engelmann, Francis and Pollefeys, Marc},
        booktitle = {International Conference on 3D Vision (3DV)},
        year = {2024}
    }

  • OpenNeRF: Open-Set 3D Neural Scene Segmentation with Pixel-Wise Features and Rendered Novel Views
    Francis Engelmann, Fabian Manhardt, Michael Niemeyer, Keisuke Tateno, Marc Pollefeys, Federico Tombari
    International Conference on Learning Representations (ICLR), 2024.
    Paper Project Code Demo

    @inproceedings{engelmann2023opennerf,
        title = {{OpenNerf: Open Set 3D Neural Scene Segmentation with Pixel-Wise Features and Rendered Novel Views}},
        author={Francis Engelmann, Fabian Manhardt, Michael Niemeyer, Keisuke Tateno, Marc Pollefeys, Federico Tombari},
        booktitle = {{International Conference on Learning Representations (ICLR)}},
        year = {2024}
    }

  • AGILE3D: Attention Guided Interactive Multi-object 3D Segmentation
    Yuanwen Yue, Sabarinath Mahadevan, Jonas Schult, Francis Engelmann, Bastian Leibe, Konrad Schindler, Theodora Kontogianni
    International Conference on Learning Representations (ICLR), 2024.
    Paper Project Code

    @inproceedings{yue2023agile3d,
        title     = {{AGILE3D: Attention Guided Interactive Multi-object 3D Segmentation}},
        author    = {Yue, Yuanwen and Mahadevan, Sabarinath and Schult, Jonas and Engelmann, Francis and Leibe, Bastian and Schindler, Konrad and Kontogianni, Theodora},
        booktitle = {{International Conference on Learning Representations (ICLR)}},
        year      = {2024}
    }

  • 3D Segmentation of Humans in Point Clouds with Synthetic Data
    Ayca Takmaz, Jonas Schult, Irem Kaftan, Cafer Mertcan Akcay, Bastian Leibe, Robert Sumner, Francis Engelmann, Siyu Tang
    Proc. International Conference on Computer Vision (ICCV), 2023.
    Paper Project Code

    @inproceedings{Takmaz2022human3d,
        title = {{3D Segmentation of Humans in Point Clouds with Synthetic Data}},
        author = {Ayca Takmaz, Jonas Schult, Irem Kaftan, Cafer Mertcan Akcay, Bastian Leibe, Robert Sumner, Francis Engelmann and Siyu Tang},
        booktitle = {{arXiv}},
        year = {2022}
    }


  • Connecting the Dots: Floorplan Reconstruction Using Two-Level Queries
    Yuanwen Yue, Theodora Kontogianni, Konrad Schindler, Francis Engelmann
    Proc. Computer Vision and Pattern Recognition (CVPR), 2023.
    Paper Project Code

    @inproceedings{Yue2022floorformer,
        title = {{Connecting the Dots: Floorplan Reconstruction Using Two-Level Queries}},
        author = {Yuanwen Yue, Theodora Kontogianni, Konrad Schindler, Francis Engelmann},
        booktitle = {IEEE Computer Vision and Pattern Recognition Conference (CVPR)},
        year = {2023}
    }

  • Mask3D: Mask Transformer for 3D Semantic Instance Segmentation
    Jonas Schult, Francis Engelmann, Alexander Hermans, Or Litany, Siyu Tang, Bastian Leibe
    Proc. International Conference on Robotics and Automation (ICRA), 2023.
    1st Place ScanNet Challenge
    Paper Project Code Demo

    @inproceedings{Schult2022mask3d,
        title = {{Mask3D: Mask Transformer for 3D Semantic Instance Segmentation}},
        author = {Schult, Jonas and Engelmann, Francis and Hermans, Alexander and Litany, Or and Tang, Siyu and Leibe, Bastian},
        booktitle = {Internationl Conference on Robotics and Automation (ICRA)},
        year = {2022}
    }

  • Box2Mask: Weakly Supervised 3D Semantic Instance Segmentation Using Bounding Boxes
    Julian Chibane, Francis Engelmann, Tuan Anh Tran, Gerard Pons-Moll
    European Conference on Computer Vision (ECCV), 2022.
    🏆 Oral Presentation
    Paper Project Video Code

    @inproceedings{Chibane2022box2mask,
      title = {Box2Mask: Weakly Supervised 3D Semantic Instance Segmentation Using Bounding Boxes},
      author = {Chibane, Julian and Engelmann, Francis and Tran, Tuan Anh and Pons-Moll, Gerard},
      booktitle = {{European Conference on Computer Vision (ECCV)}},
      year = {2022}
    }

  • 4D-StOP: Panoptic Segmentation of 4D LiDAR using Spatio-temporal Object Proposal Generation and Aggregation
    Lars Kreuzberg, Idil Esen Zulfikar, Sabarinath Mahadevan, Francis Engelmann, Bastian Leibe
    European Conference on Computer Vision Workshops (ECCVW), 2022.
    Paper Code

    @inproceedings{Kreuzberg22ECCVW,
      title = {4D-StOP: Panoptic Segmentation of 4D LiDAR using Spatio-temporal Object Proposal Generation and Aggregation},
      author = {Lars Kreuzberg, Idil Esen Zulfikar, Sabarinath Mahadevan, Francis Engelmann, Bastian Leibe},
      booktitle = {{European Conference on Computer Vision Workshops (ECCVW)}},
      year = {2022}
    }

  • Mix3D: Out-of-Context Data Augmentation for 3D Scenes
    Alexey Nekrasov, Jonas Schult, Or Litany, Bastian Leibe, Francis Engelmann
    International Conference on 3D Vision (3DV), 2021.
    🏆 Oral Presentation, 1st Place ScanNet Challenge
    Paper Demo Project Code

    @inproceedings{Nekrasov213DV,
      title     = {{Mix3D: Out-of-Context Data Augmentation for 3D Scenes}},
      author    = {Nekrasov, Alexey and Schult, Jonas and Litany, Or and Leibe, Bastian and Engelmann, Francis},
      booktitle = {{International Conference on 3D Vision (3DV)}},
      year      = {2021}
    }

  • From Points to Multi-Object 3D Reconstruction
    Francis Engelmann, Konstantinos Rematas, Bastian Leibe, Vittorio Ferrari
    Proc. Computer Vision and Pattern Recognition (CVPR), 2021.
    Paper Poster Project Code

    @inproceedings{Engelmann21CVPR,
      title     = {{From Points to Multi-Object 3D Reconstruction}},
      author    = {Engelmann, Francis and Rematas, Konstantinos and Leibe, Bastian and Ferrari, Vittorio},
      booktitle = {{IEEE Conference on Computer Vision and Pattern Recognition (CVPR)}},
      year      = {2021}
    }

  • 3D-MPA: Multi Proposal Aggregation for 3D Semantic Instance Segmentation
    Francis Engelmann, Martin Bokeloh, Alireza Fathi, Bastian Leibe, Matthias Nießner
    Proc. Computer Vision and Pattern Recognition (CVPR), 2020.
    Paper Project Video

    @inproceedings{Engelmann20CVPR,
      title     = {{3D-MPA: Multi Proposal Aggregation for 3D Semantic Instance Segmentation}},
      author    = {Engelmann, Francis and Bokeloh, Martin and Fathi, Alireza and Leibe, Bastian and Nie{\ss}ner, Matthias},
      booktitle = {{IEEE Conference on Computer Vision and Pattern Recognition (CVPR)}},
      year      = {2020}
    }

  • DualConvMesh-Net: Joint Geodesic and Euclidean Convolutions on 3D Meshes
    Jonas Schult*, Francis Engelmann*, Theodora Kontogianni, Bastian Leibe
    Proc. Computer Vision and Pattern Recognition (CVPR), 2020.
    🏆 Oral Presentation
    Paper  Project Code

    @inproceedings{Schult20CVPR,
      title     = {{DualConvMesh-Net: Joint Geodesic and Euclidean Convolutions on 3D Meshes}},
      author    = {Jonas Schult and Francis Engelmann and Theodora Kontogianni and Bastian Leibe},
      booktitle = {{IEEE Conference on Computer Vision and Pattern Recognition (CVPR)}},
      year      = {2020}
    }
    

  • Dilated Point Convolutions: On the Receptive Field Size of Point Convolutions on 3D Point Clouds
    Francis Engelmann, Theodora Kontogianni, Bastian Leibe
    Proc. International Conference on Robotics and Automation (ICRA), 2020.
    Paper  Poster  Project Video

    @inproceedings{Engelmann20ICRA,
      author    = {Engelmann, Francis and  Kontogianni, Theodora and Leibe, Bastian},
      title     = {{Dilated Point Convolutions: On the Receptive Field Size of Point Convolutions on 3D Point Clouds}},
      booktitle = {{International Conference on Robotics and Automation (ICRA)}},
      year      = {2020}
    }

  • 3D-BEVIS: Bird’s-Eye-View Instance Segmentation
    Cathrin Elich, Francis Engelmann, Jonas Schult, Theodora Kontogianni, Bastian Leibe
    Proc. German Conference on Pattern and Recognition (GCPR), 2019.
    🏆 YRF DAGM Best Master's Thesis Award 2019
    Paper 

    @inproceedings{ElichGCPR19,
      title     = {{3D-BEVIS: Birds-Eye-View Instance Segmentation}},
      author    = {Elich, Cathrin and Engelmann, Francis and Schult, Jonas and Kontogianni, Theodora and Leibe, Bastian},
      booktitle = {{German Conference on Pattern Recognition (GCPR)}},
      year      = {2019}
    }

  • Know What Your Neighbors Do: 3D Semantic Segmentation of Point Clouds
    Francis Engelmann, Theodora Kontogianni, Jonas Schult, Bastian Leibe
    Proc. European Conference on Computer Vision Workshops (ECCVW), 2018.
    Paper 

    @inproceedings{Engelmann18ECCVW,
      author    = {Francis Engelmann and Theodora Kontogianni and Jonas Schult and Bastian Leibe},
      title     = {Know What Your Neighbors Do: 3D Semantic Segmentation of Point Clouds},
      booktitle = {{European Conference on Computer Vision Workshops (ECCVW)}},
      year      = {2018}
    }

  • Exploring Spatial Context for 3D Semantic Segmentation of Point Clouds
    Francis Engelmann*, Theodora Kontogianni*, Alexander Hermans, Bastian Leibe
    Proc. Internationcal Conference on Computer Vision Workshops (ICCVW), 2017.
    🏆 Oral Presentation
    Paper  Poster  Project Video Code

    @inproceedings{3dsemseg_ICCVW17,
      author    = {Francis Engelmann and Theodora Kontogianni and Alexander Hermans and Bastian Leibe},
      title     = {Exploring Spatial Context for 3D Semantic Segmentation of Point Clouds},
      booktitle = {{International Conference on Computer Vision Workshops (ICCVW)},
      year      = {2017}
    }
    

  • Keyframe-Based Visual-Inertial Online SLAM with Relocalization
    Anton Kasyanov, Francis Engelmann, Jörg Stückler, Bastian Leibe
    Proc. International Conference on Intelligent Robots and Systems (IROS), 2017.
    Paper 

    @inproceedings{Kasyanov17IROS,
      title     = {{Keyframe-Based Visual-Inertial Online SLAM with Relocalization}},
      author    = {Anton Kasyanov and Francis Engelmann and J\"org St\"uckler and Bastian Leibe},
      booktitle = {{International Conference on Intelligent Robots and Systems (IROS)}},
      year      = {2017}
    }

  • SAMP: Shape and Motion Priors for 4D Vehicle Reconstruction
    Francis Engelmann, Jörg Stückler, Bastian Leibe
    Proc. Winter Conference on Applications of Computer Vision (WACV), 2017.
    Paper  Poster  Supplementary Material  Project

    @inproceedings{Engelmann17WACV,
      author    = {Francis Engelmann and J{\"{o}}rg St{\"{u}}ckler and Bastian Leibe},
      title     = {{SAMP: Shape and Motion Priors for 4D Vehicle Reconstruction}},
      booktitle = {{Winter Conference on Applications of Computer Vision (WACV)}},
      year      = {2017}
    }
    

  • Joint Object Pose Estimation and Shape Reconstruction in Urban Street Scenes Using 3D Shape Priors
    Francis Engelmann, Jörg Stückler, Bastian Leibe
    Proc. German Conference on Pattern Recognition (GCPR), 2016.
    🏆 Oral Presentation
    Paper  Supplementary Material  Project Video Code

    @inproceedings{Engelmann16GCPR,
      title     = {{Joint Object Pose Estimation and Shape Reconstruction in Urban Street Scenes Using 3D Shape Priors}},
      author    = {Francis Engelmann and J\"org St\"uckler and Bastian Leibe},
      booktitle = {{German Conference on Pattern Recognition (GCPR)}},
      year      = {2016}
    }
    

Projects