Francis Engelmann

I am an assistant professor at the University of Lugano (USI) in Switzerland. Previously, I was a postdoc at Stanford University with Prof. Leonidas Guibas and Prof. Jeannette Bohg. Before that I was a visiting researcher with Federico Tombari at Google Zurich, and postdoctoral research fellow at ETH Zurich working with Prof. Marc Pollefeys. I obtained my PhD in the Computer Vision Group of Prof. Dr. Bastian Leibe at RWTH Aachen University and worked at Google X with Martin Bokeloh, Google Research with Kostas Rematas, and Apple in California.

News

Dec 2025	The 6^th iteration of our Open-Vocabulary 3D Scene Understanding Workshop will be held at CVPR'26 in Denver, CO.
Oct 2025	I will serve as area chair (AC) for CVPR'26.
Sep 2025	We have two papers accepted at NeurIPS 2025. Great work with Valentin Bieri and Rui Huang.
Aug 2025	We have one paper at BMVC and one paper at SIGGRAPH Asia.
Jul 2025	Together with Jeannette Bohg, we received an NVIDIA Academic grant 🚀.
Jun 2025	SuperDec is an 🏆 Oral (top 2.3%) at ICCV'25 in Hawaii 🌸, amazing work with Elisabetta Fedele and Boyang Sun.
Jun 2025	I will serve as areas chair (AC) for WACV'26.
Apr 2025	SLAG (Scalable Language-Augmented Gaussian Splatting) was accepted at RA-L.
Feb 2025	We have 2 papers accepted at CVPR'25, OpenFunGraph (🏆 Highlight) and ARKitLabelMaker
Jan 2025	Search3D our approach for hierarchical open-vocabulary 3D scene segmentation was accepted at RA-L.
Dec 2024	The 4^th iteration of our Open-Vocabulary 3D Scene Understanding Workshop will be held at CVPR'25 in Nashville, TN.
Oct 2024	We have 2 papers accepted at WACV'25.
Sep 2024	I moved to Stanford University to work with Leo Guibas and Jeannette Bohg on computer vision for robotics.
Sep 2024	I will serve as areas chair (AC) for CVPR'25.
Jul 2024	We have 4 papers accepted at ECCV'24 in Milan, among them Segment3D!
Jul 2024	I will serve as area chair (AC) for 3DV'25 and WACV'25.
May 2024	I was recognized as outstanding reviewer for CVPR 2024 (top 2%).
Apr 2024	The third iteration of our Open-Vocabulary 3D Scene Understanding Workshop will be held at ECCV'24 in Milan.
May 2024	Our Spot-Compose received a 🏆 Best Paper Award at the ICRA'24 MOMA.v2 workshop.
Mar 2024	I will give a talk at the CV4AEC Workshop at CVPR'24 in Seattle.
Feb 2024	SceneFun3D is accepted at CVPR'24 as 🏆 Oral in Seattle, great work with Alex Delitzas and Ayca Takmaz.
Jan 2024	ICGNet is accepted at ICRA'24 in Yokohama, great work with René Zurbrügg.
Jan 2024	OpenNeRF and AGILE3D are accepted to ICLR'24 in Vienna.
Jan 2024	I gave a talk on High-Fidelity Open-Vocabulary 3D Scene Understanding at the Mila Robot Learning Seminar.
Dec 2023	The second iteration of our Open-Vocabulary 3D Scene Understanding Workshop will be held in conjunction with CVPR'24 in Seattle.
Dec 2023	Our NeurIPS 2023 paper on open-vocabulary 3D instance segmentation method OpenMask3D was featured in the Computer Vision News.
Nov 2023	I was recognized as top reviewer for NeurIPS 2023.
Oct 2023	Our work LabelMaker was accepted at 3DV'24 in Davos, Switzerland.
Sep 2023	Our open-set 3D instance segmentation OpenMask3D was accepted at NeuRIPS'23 in New Orleans.
Sep 2023	I will give a keynote talk at the ICCV'23 CVAAD workshop.
Aug 2023	I will serve as areas chair (AC) for WACV'24.
Jul 2023	Our work on 3D human segmentation Human3D was accepted at ICCV'23 in Paris.
Jun 2023	Check out our latest work on open-set 3D scene segmentation OpenMask3D.
Jun 2023	I will serve as senior program committee (SPC) for AAAI 2024.
Mar 2023	Our workshop OpenSun3D on Open-Vocabulary 3D Scene Understanding will be held in conjunction with ICCV'23 in Paris.
Feb 2023	Our paper RoomFormer is accepted at CVPR'23.
Jan 2023	Our paper Mask3D was accepted at ICRA'23. Check out the online demo.
Dec 2022	I received the ETH Zurich Career Seed Award.
Aug 2022	Our Mask3D approach ranks 1^st on ScanNet, ScanNet200 and 2^nd on STPLS3D.
Aug 2022	One paper accepted at the ECCV 2022 AVVision Workshop.
Jul 2022	I will serve as senior program committee (SPC) for AAAI 2023.
Jul 2022	Our paper Box2Mask on weakly supervised 3D instance segmentation using bounding box annotations is accepted as oral (2.7%) to ECCV 2022 in Tel Aviv.
Jun 2022	I gave an invited talk at the CVPR 2022 ScanNet workshop in New Orleans.
Jun 2022	Our winning entry on 2D floorplan reconstruction from large-scale point clouds was presented at CV4AEC.
Jun 2022	Our model Mix3D won first place on the ScanNet 3D Semantic Segmentaion challenge with Alexey Nekrasov and Jonas Schult.
May 2022	I will co-organize the HBHA workshop on human body, hands, and activities from egocentric and multi-view cameras at ECCV 2022.

Publications

SpaceControl: Introducing Test-Time Spatial Control to 3D Generative Modeling
Elisabetta Fedele^*, Francis Engelmann^*, Ian Huang, Or Litany, Marc Pollefeys, Leonidas Guibas
arXiv (Preprint), 2025.
Paper BibTeX Project Code

@inproceedings{Fedele2025SpaceControl,
  title={SpaceControl: Introducing Test-Time Spatial Control to 3D Generative Modeling},
  author={Elisabetta Fedele*, Francis Engelmann*, Ian Huang, Or Litany, Marc Pollefeys, Leonidas Guibas},
  booktitle={arXiv (Preprint)},
  year={2025}
}

HouseLayout3D: A Benchmark and Training-free Baseline for 3D Layout Estimation in the Wild
Valentin Bieri, Marie-Julie Rakotosaona, Keisuke Tateno, Francis Engelmann, Leonidas Guibas
Conference on Neural Information Processing Systems (NeurIPS), 2025.
Paper BibTeX Project Code

@inproceedings{Bieri2025HouseLayout3D,
  title={HouseLayout3D: A Benchmark and Training-free Baseline for 3D Layout Estimation in the Wild},
  author={Valentin Bieri, Marie-Julie Rakotosaona, Keisuke Tateno, Francis Engelmann, Leonidas Guibas},
  booktitle={Conference on Neural Information Processing Systems (NeurIPS)},
  year={2025}
}

VIPScene: Video Perception Models for 3D Scene Generation
Rui Huang, Guangyao Zhai, Zuria Bauer, Marc Pollefeys, Federico Tombari, Leonidas Guibas, Gao Huang, Francis Engelmann
Conference on Neural Information Processing Systems (NeurIPS), 2025.
Paper BibTeX Project Code

@inproceedings{Huang2025VIPScene,
  title={VIPScene: Video Perception Models for 3D Scene Generation},
  author={Rui Huang, Guangyao Zhai, Zuria Bauer, Marc Pollefeys, Federico Tombari, Leonidas Guibas, Gao Huang, Francis Engelmann},
  booktitle={Conference on Neural Information Processing Systems (NeurIPS)},
  year={2025}
}

SuperDec: 3D Scene Decomposition with Superquadric Primitives
Elisabetta Fedele, Boyang Sun, Leonidas Guibas, Marc Pollefeys, Francis Engelmann
IEEE/CVF International Conference on Computer Vision (ICCV), 2025.
Oral Presentation (top 2.3% of accepted papers)
Paper BibTeX Project Code

@inproceedings{Fedele2025SuperDec,
  title={SuperDec: 3D Scene Decomposition with Superquadric Primitives},
  author={Elisabetta Fedele, Boyang Sun, Leonidas Guibas, Marc Pollefeys, Francis Engelmann},
  booktitle={IEEE/CVF International Conference on Computer Vision (ICCV)},
  year={2025}
}

HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and WHole-Body Control
Priya Sundaresan, Rhea Malhotra, Phillip Miao, Jingyun Yang, Jimmy Wu, Hengyuan Hu, Rika Antonova, Francis Engelmann, Dorsa Sadigh, Jeannette Bohg
arXiv (Preprint), 2025.
Paper BibTeX Project Code

@inproceedings{Sundaresan2025HoMeR,
  title={HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and WHole-Body Control},
  author={Priya Sundaresan, Rhea Malhotra, Phillip Miao, Jingyun Yang, Jimmy Wu, Hengyuan Hu, Rika Antonova, Francis Engelmann, Dorsa Sadigh, Jeannette Bohg},
  booktitle={arXiv (Preprint)},
  year={2025}
}

SLAG: Scalable Language-Augmented Gaussian Splatting
Laszlo Szilagyi, Francis Engelmann, Jeannette Bohg
IEEE Robotics and Automation Letters (RA-L), 2025.
Paper BibTeX Project

@inproceedings{Szilagyi2025SLAG,
  title={SLAG: Scalable Language-Augmented Gaussian Splatting},
  author={Laszlo Szilagyi, Francis Engelmann, Jeannette Bohg},
  booktitle={IEEE Robotics and Automation Letters (RA-L)},
  year={2025}
}

OpenFunGraph: Open-Vocabulary Functional 3D Scene Graphs for Real-World Indoor Spaces
Chenyangguang Zhang^*, Alexandros Delitzas^*, Fangjinhua Wang, Ruida Zhang, Xiangyang Ji, Marc Pollefeys, Francis Engelmann
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2025.
Highlight (top 13% of accepted papers)
Paper BibTeX Project

@inproceedings{Zhang2025OpenFunGraph,
  title={OpenFunGraph: Open-Vocabulary Functional 3D Scene Graphs for Real-World Indoor Spaces},
  author={Chenyangguang Zhang*, Alexandros Delitzas*, Fangjinhua Wang, Ruida Zhang, Xiangyang Ji, Marc Pollefeys, Francis Engelmann},
  booktitle={IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2025}
}

ARKit LabelMaker: A New Scale for Indoor 3D Scene Understanding
Guangda Ji, Silvan Weder, Francis Engelmann, Marc Pollefeys, Hermann Blum
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2025.
Paper BibTeX Project

@inproceedings{Ji2025ARKit,
  title={ARKit LabelMaker: A New Scale for Indoor 3D Scene Understanding},
  author={Guangda Ji, Silvan Weder, Francis Engelmann, Marc Pollefeys, Hermann Blum},
  booktitle={IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2025}
}

Search3D: Hierarchical Open-Vocabulary 3D Segmentation
Ayca Takmaz, Alexandros Delitzas, Robert Sumner, Francis Engelmann^*, Johanna Wald^*, Federico Tombari
IEEE Robotics and Automation Letters (RA-L), 2025.
Paper BibTeX Project

@inproceedings{Takmaz2025Search3D,
  title={Search3D: Hierarchical Open-Vocabulary 3D Segmentation},
  author={Ayca Takmaz, Alexandros Delitzas, Robert Sumner, Francis Engelmann*, Johanna Wald*, Federico Tombari},
  booktitle={IEEE Robotics and Automation Letters (RA-L)},
  year={2025}
}

OpenCity3D: What do Vision-Language Models know about Urban Environments?
Valentin Bieri, Marco Zamboni, Nicolas S. Blumer, Qingxuan Chen, Francis Engelmann
IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2025.
Paper BibTeX Project

@inproceedings{Bieri2025OpenCity3D,
  title={OpenCity3D: What do Vision-Language Models know about Urban Environments?},
  author={Valentin Bieri, Marco Zamboni, Nicolas S. Blumer, Qingxuan Chen, Francis Engelmann},
  booktitle={IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)},
  year={2025}
}

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 BibTeX Project Code

@inproceedings{Vogel2024P2P-Bridge,
  title={P2P-Bridge: Diffusion Bridges for 3D Point Cloud Denoising},
  author={Mathias Vogel, Keisuke Tateno, Marc Pollefeys, Federico Tombari, Marie-Julie Rakotosaona, Francis Engelmann},
  booktitle={European Conference on Computer Vision (ECCV)},
  year={2024}
}

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

@inproceedings{Huang2024Segment3D,
  title={Segment3D: Learning Fine-Grained Class-Agnostic 3D Segmentation without Manual Labels},
  author={Rui Huang, Songyou Peng, Ayca Takmaz, Federico Tombari, Marc Pollefeys, Shiji Song, Gao Huang, Francis Engelmann},
  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 BibTeX Project Code

@inproceedings{Miao2024SceneGraphLoc,
  title={SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs},
  author={Yang Miao, Francis Engelmann, Olga Vysotska, Federico Tombari, Marc Pollefeys, Dániel Béla Baráth},
  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 BibTeX Project Code

@inproceedings{Yue2024FiT3D,
  title={FiT3D: Improving 2D Feature Representations by 3D-Aware Fine-Tuning},
  author={Yuanwen Yue, Anurag Das, Francis Engelmann, Siyu Tang, Jan Eric Lenssen},
  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
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2024.
Oral Presentation (top 3.3% of accepted papers)
Paper BibTeX Project

@inproceedings{Delitzas2024SceneFun3D,
  title={SceneFun3D: Fine-Grained Functionality and Affordance Understanding in 3D Scenes},
  author={Alexandros Delitzas, Ayca Takmaz, Federico Tombari, Robert Sumner, Marc Pollefeys, Francis Engelmann},
  booktitle={IEEE 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^*
International Conference on Robotics and Automation Workshops (ICRAW), 2024.
Best Paper Award (ICRA MOMA.v2 workshop)
Paper BibTeX Project

@inproceedings{Lemke2024Spot-Compose,
  title={Spot-Compose: A Framework for Open-Vocabulary Object Retrieval and Drawer Manipulation in Point Clouds},
  author={Oliver Lemke, Zuria Bauer, René Zurbrügg, Marc Pollefeys, Francis Engelmann*, Hermann Blum*},
  booktitle={International 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
International Conference on Robotics and Automation (ICRA), 2024.
Paper BibTeX Project

@inproceedings{Zurbrügg2024ICGNet,
  title={ICGNet: A Unified Approach for Instance-Centric Grasping},
  author={René Zurbrügg, Yifan Liu, Francis Engelmann, Suryansh Kumar, Marco Hutter, Vaishakh Patil, Fisher Yu},
  booktitle={International 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 BibTeX Project Code

@inproceedings{Takmaz2023OpenMask3D,
  title={OpenMask3D: Open-Vocabulary 3D Instance Segmentation},
  author={Ayca Takmaz, Elisabetta Fedele, Robert Sumner, Marc Pollefeys, Federico Tombari, Francis Engelmann},
  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 BibTeX Project Code

@inproceedings{Weder2024LabelMaker,
  title={LabelMaker: Automatic Semantic Label Generation from RGB-D Trajectories},
  author={Silvan Weder, Hermann Blum, Francis Engelmann, Marc Pollefeys},
  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 BibTeX Project Code

@inproceedings{Engelmann2024OpenNeRF,
  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 BibTeX Project Code

@inproceedings{Yue2024AGILE3D,
  title={AGILE3D: Attention Guided Interactive Multi-object 3D Segmentation},
  author={Yuanwen Yue, Sabarinath Mahadevan, Jonas Schult, Francis Engelmann, Bastian Leibe, Konrad Schindler, Theodora Kontogianni},
  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
IEEE/CVF International Conference on Computer Vision (ICCV), 2023.
Paper BibTeX Project Code

@inproceedings{Takmaz20233D,
  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, Siyu Tang},
  booktitle={IEEE/CVF International Conference on Computer Vision (ICCV)},
  year={2023}
}

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

@inproceedings{Yue2023Connecting,
  title={Connecting the Dots: Floorplan Reconstruction Using Two-Level Queries},
  author={Yuanwen Yue, Theodora Kontogianni, Konrad Schindler, Francis Engelmann},
  booktitle={IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2023}
}

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

@inproceedings{Schult2023Mask3D,
  title={Mask3D: Mask Transformer for 3D Semantic Instance Segmentation},
  author={Jonas Schult, Francis Engelmann, Alexander Hermans, Or Litany, Siyu Tang, Bastian Leibe},
  booktitle={International Conference on Robotics and Automation (ICRA)},
  year={2023}
}

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 BibTeX Project Code

@inproceedings{Chibane2022Box2Mask,
  title={Box2Mask: Weakly Supervised 3D Semantic Instance Segmentation Using Bounding Boxes},
  author={Julian Chibane, Francis Engelmann, Tuan Anh Tran, Gerard Pons-Moll},
  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 BibTeX Code

@inproceedings{Kreuzberg20224D-StOP,
  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 BibTeX Project Code

@inproceedings{Nekrasov2021Mix3D,
  title={Mix3D: Out-of-Context Data Augmentation for 3D Scenes},
  author={Alexey Nekrasov, Jonas Schult, Or Litany, Bastian Leibe, Francis Engelmann},
  booktitle={International Conference on 3D Vision (3DV)},
  year={2021}
}

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

@inproceedings{Engelmann2021From,
  title={From Points to Multi-Object 3D Reconstruction},
  author={Francis Engelmann, Konstantinos Rematas, Bastian Leibe, Vittorio Ferrari},
  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
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020.
Paper BibTeX Project

@inproceedings{Engelmann20203D-MPA,
  title={3D-MPA: Multi Proposal Aggregation for 3D Semantic Instance Segmentation},
  author={Francis Engelmann, Martin Bokeloh, Alireza Fathi, Bastian Leibe, Matthias Nießner},
  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
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020.
Oral Presentation
Paper BibTeX Project Code

@inproceedings{Schult2020DualConvMesh-Net,
  title={DualConvMesh-Net: Joint Geodesic and Euclidean Convolutions on 3D Meshes},
  author={Jonas Schult*, Francis Engelmann*, Theodora Kontogianni, 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
International Conference on Robotics and Automation (ICRA), 2020.
Paper BibTeX Project

@inproceedings{Engelmann2020Dilated,
  title={Dilated Point Convolutions: On the Receptive Field Size of Point Convolutions on 3D Point Clouds},
  author={Francis Engelmann, Theodora Kontogianni, Bastian Leibe},
  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
German Conference on Pattern Recognition (GCPR), 2019.
Best Master's Thesis Award (YRF DAGM 2019)
Paper BibTeX

@inproceedings{Elich20193D-BEVIS,
  title={3D-BEVIS: Bird's-Eye-View Instance Segmentation},
  author={Cathrin Elich, Francis Engelmann, Jonas Schult, Theodora Kontogianni, Bastian Leibe},
  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
European Conference on Computer Vision Workshops (ECCVW), 2018.
Paper BibTeX

@inproceedings{Engelmann2018Know,
  title={Know What Your Neighbors Do: 3D Semantic Segmentation of Point Clouds},
  author={Francis Engelmann, Theodora Kontogianni, Jonas Schult, Bastian Leibe},
  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
International Conference on Computer Vision Workshops (ICCVW), 2017.
Oral Presentation
Paper BibTeX Project Code

@inproceedings{Engelmann2017Exploring,
  title={Exploring Spatial Context for 3D Semantic Segmentation of Point Clouds},
  author={Francis Engelmann*, Theodora Kontogianni*, Alexander Hermans, Bastian Leibe},
  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
International Conference on Intelligent Robots and Systems (IROS), 2017.
Paper BibTeX

@inproceedings{Kasyanov2017Keyframe-Based,
  title={Keyframe-Based Visual-Inertial Online SLAM with Relocalization},
  author={Anton Kasyanov, Francis Engelmann, Jörg Stückler, 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
IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2017.
Paper BibTeX Project

@inproceedings{Engelmann2017SAMP,
  title={SAMP: Shape and Motion Priors for 4D Vehicle Reconstruction},
  author={Francis Engelmann, Jörg Stückler, Bastian Leibe},
  booktitle={IEEE/CVF 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
German Conference on Pattern Recognition (GCPR), 2016.
Oral Presentation
Paper BibTeX Project Code

@inproceedings{Engelmann2016Joint,
  title={Joint Object Pose Estimation and Shape Reconstruction in Urban Street Scenes Using 3D Shape Priors},
  author={Francis Engelmann, Jörg Stückler, Bastian Leibe},
  booktitle={German Conference on Pattern Recognition (GCPR)},
  year={2016}
}