Francis Engelmann

I am currently a postdoctoral research fellow at ETH Zurich .

News

February 2023 Our paper RoomFormer is accepted at CVPR'23.
January 2023 Our paper Mask3D was accepted at ICRA'23. Check out the online demo.
December 2022 I received the ETH Zurich Career Seed Award.
October 2022 I joined the group of Federico Tombari at Google Zurich for a research visit.
August 2022 Our Mask3D approach ranks 1^st on ScanNet, ScanNet200 and 2^nd on STPLS3D.
August 2022 One paper accepted at the ECCV 2022 AVVision Workshop.
July 2022 I will serve as senior program committee (SPC) for AAAI 2023.
July 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.
June 2022 I gave an invited talk at the CVPR 2022 ScanNet workshop in New Orleans.

Previous news

June 2022 Our winning entry on 2D floorplan reconstruction from large-scale point clouds was presented at CV4AEC with Ekin Celikkan and Theodora Kontogianni.
June 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

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
arXiv, 2022.
Paper BibTeX 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 BibTeX 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 BibTeX 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},
    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 BibTeX 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
Larz Kreuzberg, Idil Esen Zulfikar, Sabarinath Mahadevan, Francis Engelmann, Bastian Leibe
European Conference on Computer Vision Workshops (ECCVW), 2022.
Paper BibTeX Code

@inproceedings{Kreuzberg22ECCVW,
  title = {4D-StOP: Panoptic Segmentation of 4D LiDAR using Spatio-temporal Object Proposal Generation and Aggregation},
  author = {Larz 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 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 BibTeX 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 BibTeX 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 BibTeX 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 BibTeX 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 BibTeX

@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 BibTeX

@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 BibTeX 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 BibTeX

@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 BibTeX 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 BibTeX 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

This is the online demo of Mask3D our state-of-the-art 3D semantic instance segmentation method. You can upload your own 3D scan or reconstruction (.ply) and segment the scene into the semantic classes of ScanNet, including ScanNet 200.
Link
PyViz3D is a simple web-based visualizer for 3D point clouds and other primitives such as meshes, polylines, bounding boxes and labels. It is useful for quick protyping and remote development.
Code Documentation

Virtual KITTI 3D: Extension of the Virtual Kitti dataset including 3D cloud representations and refined semantic labels.
Code
Graph Convolutional Nets: Implementation of Kipf et al. graph convolutional networks.
Code
Fast Voxel Traversal: Implementation of the Fast Voxel Traversal algorithm.
Code
Spectrum Analyzer: Some tools to visualize audio input using OpenAL and FFTW.
Code
MCMC-MH: Implementation of MCMC-MH and sudoku solver using MCMC.
Code