François Goulette
- Unité d'Informatique et d'Ingénierie des Systèmes (U2IS)
- Centre de Robotique (CAOR)
Publications
Publications
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3DLabelProp: Geometric-Driven Domain Generalization for LiDAR Semantic Segmentation in Autonomous Driving2025 |
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What s in My LiDAR Odometry Toolbox?2021 |
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Automatic Clustering Of Celtic Coins Based On 3d Point Cloud Pattern Analysis2020 |
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Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering2016 |
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Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM2014 |
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Challenges and Performance of SLAM Algorithms on Resource-constrained DevicesCharting the Intelligence Frontiers Edge AI Systems Nexus, 1, River Publisher, pp.89-110, 2025, https://doi.org/10.13052/rp-9788743808831. ⟨10.13052/rp-9788743808831⟩ |
3D Scanning of Celtic Coins and Deep Learning to Identify Monetary DiesProceedings of the XVI International Numismatic Congress, 11–16.09.2022, Warsaw, Vol. ii Roman Numismatics, Brepols Publishers, pp.45-56, 2025, ⟨10.1484/M.WSA-EB.5.145083⟩ |
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Fluid Flow Simulation from Geometry Data Based on Point CloudsNumerical Methods for Flows, pp.109-119, 2020, ⟨10.1007/978-3-030-30705-9_10⟩ |
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HD-OOD3D: Supervised and Unsupervised Out-of-Distribution object detection in LiDAR data2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025), Oct 2025, Hangzhou (Chine), China. pp.15103-15110, ⟨10.1109/IROS60139.2025.11247260⟩ |
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Leg Exoskeleton Odometry using a Limited FOV Depth Sensor2025 IEEE International Conference on Robotics and Automation (ICRA), May 2025, Atlanta, France. pp.1032-1038, ⟨10.1109/ICRA55743.2025.11128659⟩ |
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Domain generalization of 3D semantic segmentation in autonomous driving2023 IEEE/CVF International Conference on Computer Vision (ICCV 2023), Oct 2023, Paris, France |
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Multi-IMU Proprioceptive State Estimator for Humanoid Robots2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Oct 2023, Detroit, United States |
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COLA: COarse LAbel pre-training for 3D semantic segmentation of sparse LiDAR datasets2023 IEEE International Conference on Robotics and Automation (ICRA 2023), May 2023, Londres, United Kingdom. pp.11343-11350, ⟨10.1109/ICRA48891.2023.10160539⟩ |
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MDT3D: Multi-Dataset Training for LiDAR 3D Object Detection Generalization2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Oct 2023, Detroit, United States |
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On power Jaccard losses for semantic segmentationVISAPP 2021 : 16th International Conference on Computer Vision Theory and Applications, Feb 2021, Vienne (on line), Austria |
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KPConv: Flexible and Deformable Convolution for Point CloudsThe IEEE International Conference on Computer Vision (ICCV), Oct 2019, Séoul, South Korea |
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A graph-based color lines model for image analysisInternational Conference on Image Analysis and Processing, Sep 2019, Trento, Italy. ⟨10.1007/978-3-030-30645-8_17⟩ |
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Classification of Point Cloud for Road Scene Understanding with Multiscale Voxel Deep Network10th workshop on Planning, Perceptionand Navigation for Intelligent Vehicules PPNIV'2018, Oct 2018, Madrid, Spain |
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Descripteurs sphériques multi-échelles pour la classification sémantique de nuages de points 3DConférence Française de Photogrammétrie et Télédétection (CFPT) 2018, Jun 2018, Paris, France |
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Semantic Classification of 3D Point Clouds with Multiscale Spherical Neighborhoods2018 International Conference on 3D Vision (3DV), Sep 2018, Verone, Italy. ⟨10.1109/3DV.2018.00052⟩ |
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Paris-Lille-3D: A Point Cloud Dataset for Urban Scene Segmentation and ClassificationCVPR Workshop on Real-World Challenges and New Benchmarks for Deep Learning in Robotic Vision, Jun 2018, Salt Lake City, United States |
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Raw point cloud deferred shading through screen space pyramidal operators39th Eurographics, Apr 2018, Delft, Netherlands |
High quality and efficient direct rendering of massive real-world point cloudsEurographics 2017, the 38th Annual Conference of the European Association for Computer Graphics., Apr 2017, Lyon, France |
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High Quality and Efficient Direct Rendering of Massive Real-world Point CloudsEUROGRAPHICS 2017, Apr 2017, Lyon, France |
Fast computation of soft tissue deformations for real-time medical training simulators: the HEML method and open-source softwareVRIC '16 Proceedings of the 2016 Virtual Reality International Conference, Mar 2017, Laval, France. ⟨10.1145/2927929.2927952⟩ |
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Du nuage de points au maillage volumique anisotrope pour la simulation en mécanique des fluidesJournées du Groupe de Travail en Modélisation Géométrique, Mar 2016, Dijon, France |
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On the Covariance of ICP-based Scan-matching Techniques2016 American Control Conference (ACC), Jul 2016, Boston, United States |
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EXPERIMENTAL ASSESSMENT OF THE QUANERGY M8 LIDAR SENSORISPRS 2016 congress, Jul 2016, Prague, Czech Republic |
Fast computation of soft tissue deformations for real-time medical training simulators: the HEML method and open-source softwareProceedings of the 2016 Virtual Reality International Conference, 2016, Laval, France |
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Amélioration de la qualité d'un nuage de points 3D d'un MLS (Mobile Laser Scanning) par ajustement de la calibration du LIDAR multi-fibresColloque « PHOTOGRAMMÉTRIE NUMÉRIQUE ET PERCEPTION 3D, LES NOUVELLESCONQUÊTES » , Société Française de Photogrammétrie et Télédétection, Mar 2016, Marne-la-Vallée, France |
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Fast and Robust Segmentation and Classification for Change Detection in Urban Point CloudsISPRS 2016 - XXIII ISPRS Congress, International Society for Photogrammetry and Remote Sensing, Jul 2016, Prague, Czech Republic. ⟨10.5194/isprs-archives-XLI-B3-693-2016⟩ |
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POINT CLOUD REFINEMENT WITH A TARGET-FREE INTRINSIC CALIBRATION OF A MOBILE MULTI-BEAM LIDAR SYSTEMISPRS congress 2016 International Society for Photogrammetry and Remote Sensing, Jul 2016, Prague, Czech Republic |
SEGMENTATION ET CLASSIFICATION ROBUSTE POUR LA DÉTECTION DE CHANGEMENTS DANS LES NUAGES DE POINTS URBAINSColloque « PHOTOGRAMMÉTRIE NUMÉRIQUE ET PERCEPTION 3D, LES NOUVELLESCONQUÊTES », Société Française de Photogrammétrie et Télédétection, Mar 2016, Marne-la-Vallée, France |
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Mobile Laser Scanning, Robotics and ApplicationsWorkshop on Laser Scanning Applications, University of Cologne - DGPF - ISPRS, Mar 2015, Cologne, Germany |
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Relevés laser mobiles d’environnements 3D - Robotique, géomatique et nouveaux usagesJournées Nationales de la Recherche en Robotique, GDR Robotique, Oct 2015, Cap Hornu, France |
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Mobile Laser Scanning for 3D Road Scene ReconstructionAutonomous Vehicles; from theory to full scale applications, IET, Jun 2015, Paris, France |
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Relevés laser mobiles d’environnements 3D - Robotique, géomatique et BIMJournée transformation digitale BIM pour le ferroviaire, Railenium - COLAS - Fer de France - SNCF Réseau, Oct 2015, Paris, France |
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Visualisation Temps Réel de Nuages de Points 3D Structurés LinéairementJournées de l’Association Française d’Informatique Graphique (AFIG), AFIG, Oct 2014, Reims, France |
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Paris-rue-Madame database: a 3D mobile laser scanner dataset for benchmarking urban detection, segmentation and classification methods4th International Conference on Pattern Recognition, Applications and Methods ICPRAM 2014, Mar 2014, Angers, France |
Real-time simulation of soft tissue deformations for the childbirth related models using HEMLSURGETICA, Dec 2014, Chambéry, France |
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3D dense point cloud meshing through anisotropic adaptation on implicit functionsInt. Conf. on Computational Modeling of Objects Presented in Images (CompImage), Sep 2014, Pittsburgh, PA, United States |
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Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAMAmerican Control Conference (ACC), Jun 2014, Portland, Oregon, United States |
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Scalable and Detail-Preserving Ground Surface Reconstruction from Large 3D Point Clouds Acquired by Mobile Mapping SystemsPCV (Photogrammetric Computer Vision), Sep 2014, Zurich, Switzerland. pp.73 - 80, ⟨10.5194/isprsarchives-XL-3-73-2014⟩ |
Cartographie 3D par LiDAR terrestre mobile - entre robotique, géomatique et nouveaux usagesAtelier « Systèmes embarqués d'imagerie 3D par laser », Groupe de travail OPTIM "Optique et Image" de la Fondation "Sciences et Technologies pour l'Aéronautique et l'Espace", Apr 2014, Toulouse, France |
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Fast computation of soft tissue deformations in real-time simulation of surgery with HEML: a comparison of computation time with conventional FEMInt. Conf. on Computer Assisted Radiology and Surgery (CARS), Jun 2014, Tokyo, Japan |
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Rendu de routes et perception sémantique de marquages au sol à partir de données laser 4D (3D+intensité)Journée « Analyse conjointe des images RGB-Depth », GDR ISIS, Feb 2014, Paris, France |
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FEATURE-BASED QUALITY EVALUATION OF 3D POINT CLOUDS – STUDY OF THE PERFORMANCE OF 3D REGISTRATION ALGORITHMS3D GeoInfo Conference, ISPRS WG II/2, Nov 2013, Istamboul, Turkey |
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Line Segment-based Approach for Accuracy Assessment of MLS point clouds in Urban Areas8th International Symposium on Mobile Mapping Technology, May 2013, Tainan, Taiwan |
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RANSAC algorithm and elements of graph theory for automatic plane detection in 3D point cloudsSymposium de PTFiT (Polish Society for Photogrammetry and Remote Sensing), Sep 2012, Poland. pp.301-310 |
Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filteringInternational Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ, Oct 2012, Vilamoura, Algarve, Portugal |
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Localisation par images de profondeurJournées du Groupe de Travail “Automatique et Automobile”, GDR MACS, May 2012, Versailles-Satory, France |
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Extraction d’arêtes et comparaison avec des données de référence pour la qualification de relevés laser mobilesJournée du GDR ISIS, Thème B – Analyse de scènes en image et vision, GDR ISIS, Nov 2012, Paris, France |
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3D Road Environment Modeling Applied to Visibility Mapping: an Experimental ComparisonDS-RT International Symposium on Distributed Simulation and Real Time Applications, IEEE/ACM, Oct 2012, Dublin, Ireland |
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3D Road Environment Modeling Applied to Visibility Mapping: an Experimental ComparisonIEEE/ACM International Symposium on Distributed Simulation and Real Time Applications, Oct 2012, France. pp 19-26 |
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SCALABLE AND DETAIL-PRESERVING GROUND SURFACE RECONSTRUCTION FROM MOBILE LASER SYSTEMS FOR DRIVING SIMULATORS ENGINESDSC, Sep 2014, Paris, France |
Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filteringSymposium of PTFiT , Polish Society for Photogrammetry and Remote Sensing, Sep 2012, Kazimierz Dolny, Poland |
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ASSESSING THE ACCURACY OF TERRESTRIAL MOBILE LASER SURVEYSInt. Symposium on Mobile Mapping Technology, Jun 2011, Cracovie, Poland |
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Imagerie 3D et applications en modélisation d’environnements et en Chirurgie Assistée par OrdinateurJournées du GDR ISIS, « De l’acquisition à la compression des objets 3D », GDR ISIS, May 2011, Porquerolles, France |
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Odometry from Planar landmarksIROS11 Workshop on Perception and Navigation for Autonomous Vehicles in Human Environment, Sep 2011, San Francisco, United States |
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Localisation for Mobile Mapping SystemsGDR ISIS / Groupe de Travail « Véhicules Terrestres » du GDR Robotique, Jun 2010, Paris, France |
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A Fast and Accurate Plane Detection Algorithm for Large Noisy Point Clouds Using Filtered Normals and Voxel Growing3DPVT Int. Conf., May 2010, Paris, France |
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POINT CLOUD NON LOCAL DENOISING USING LOCAL SURFACE DESCRIPTOR SIMILARITYPCV (Photogrammetric Computer Vision), Sep 2010, Paris, France |
Modélisation 3D de parcours routiers par relevé laser mobile pour la mesure de visibilitéColloque « Club des Méthodes Optiques pour l’Industrie », Club CMOI, Nov 2010, Toulouse, France |
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Feature-based quality evaluation of 3D heterogeneous data registrationSPIE Electronic Imaging, SPIE, Jan 2010, San José, CA, United States |
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USAGE DE LA CARTOGRAPHIE 3D POUR L’URBANISME ET LE SERVICE DE PROXIMITÉ - EXEMPLE D’APPLICATION AU DIAGNOSTIC D’ACCESSIBILITÉConférence GeoTunis, Nov 2010, Tunis, Tunisie |
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Détection de plans dans les nuages de points 3D générés à partir d’une plateforme mobile avec scanner laserGDR ISIS, Journées du thème D, « 3D », May 2010, Porquerolles, France |
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On the Diagnostic of Road Pathway VisibilityTransport Research Arena Europe, 2010, Bruxelles, France |
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A Fast and Accurate Plane Detection Algorithm for Large Noisy Point Clouds Using Filtered Normals and Voxel Growing3DPVT, May 2010, Paris, France |
Analysis and improvement of laser terrestrial Mobile Mapping systems configurationsISPRS Commission V Mid-Term Symposium, Close Range Image Measurement Techniques,, ISPRS Commission V, Jun 2010, Newcastle upon Tyne United Kingdom |
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Mise en œuvre d’une plateforme expérimentale mobile de relevé laser pour le calcul de distance de visibilitéConférence PRAC, May 2010, Paris, France |
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POINT CLOUD NON LOCAL DENOISING USING LOCAL SURFACE DESCRIPTOR SIMILARITYInt. Conf. on Photogrammetric Computer Vision (PCV), Sep 2010, Paris, France |
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Relevés laser mobiles de parcours routiers pour la mesure de visibilitéSéminaire de fin de projet DIVAS, Oct 2010, Paris, France |
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On the Diagnostic of Road Pathway VisibilityTransport Research Arena Europe 2010 (TRA'10), Jun 2010, France |
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Planar landmark detection using a specific arrangement of laser scannersIEEE/ION Position Location and Navigation System (PLANS) Conference, IEEE/ION, May 2010, Indian Wells/Palm Springs, California United States |
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Colorisation et texturation d’environnements urbains par système mobile avec scanner laser et caméraColloque « Techniques Laser pour l’Etude des Environnements Naturels et Urbains », ESGT, Jan 2009, Le Mans, France |
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Localization for Mobile Mapping Systems: Experimental results, analysis and post-processing improvementsInt. Symposium on Mobile Mapping Technology, Jul 2009, Presidente Prudente, São Paulo, Brazil |
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Localization for Mobile Mapping Systems: Experimental results, analysis and post-processing improvementsInt. Symposium on Mobile Mapping Technology, Jul 2009, Presidente Prudente, São Paulo, Brazil |
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Relevés laser urbains par Systèmes Mobiles de CartographieInt. Symposium on Mobile Mapping Technology, Jul 2009, Presidente Prudente, São Paulo Brazil |
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Recalage de données MNS et nuages de points 3D pour cartographie numériqueColloque « Techniques Laser pour l’Etude des Environnements Naturels et Urbains », ESGT, Jan 2009, Le Mans, France |
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COMPARATIVE ANALYSIS BASED ON SIMULATION FOR THE DESIGN OF LASER TERRESTRIAL MOBILE MAPPING SYSTEMSInt. Symposium on Mobile Mapping Technology, 2009, Presidente Prudente, São Paulo, Brazil |
REGISTRATION OF FIXED-AND-MOBILE- BASED TERRESTRIAL LASER DATA SETS WITH DSMCIRA, Dec 2009, Séoul, South Korea |
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Aide à la conception par simulation de systèmes de cartographie mobiles à scanner laserColloque « Techniques Laser pour l’Etude des Environnements Naturels et Urbains », ESGT, Jan 2009, Le Mans, France |
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ON-THE-WAY CITY MOBILE MAPPING USING LASER RANGE SCANNER AND FISHEYE CAMERAMMT (Mobile Mapping Technology), May 2007, Padua, Italy |
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Modeling and Calibration of Coupled Fish-Eye CCD Camera and Laser Range Scanner for Outdoor Environment Reconstruction3-D Digital Imaging and Modeling, 2007. 3DIM'07, 2007, Montréal, Québec, Canada |
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MODELISATION 3D DE ROUTES PAR TELEMETRIE LASER EMBARQUEE POUR LA MESURE DE DISTANCE DE VISIBILITEJournées des Sciences de l’Ingénieur, Dec 2006, Marne-la-Vallée, France |
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A Framework for Fast Computation of Hyper-Elastic Materials Deformations in Real-Time Simulation of SurgeryMICCAI - Workshop on Computational Biomechanics for Medicine, Oct 2006, Copenhagen, Denmark |
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Digitizing and 3D Modeling of Urban Environments and Roads using Vehicle-Borne Laser Scanner SystemInternational Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ, Oct 2004, Sendai, Japan |
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Onboard Real-time System for Digitizing and Geo-referencing of 3D Urban EnvironmentsInternational Conference on Advanced Robotics (ICAR), Jun 2003, Coimbra, Portugal |
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Extracting cylinders in full 3D data using a random sampling method and the Gaussian imageVision Modeling and Visualization Conference 2001 (VMV-01), Nov 2001, Stuttgart, Germany |
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Classification de Scènes de Nuages de Points 3D par Réseau Convolutionnel Profond Voxelique Multi-échellesRFIAP et CFPT 2018, Jun 2018, Marne-la-Vallée, France |
Calibration extrinsèque automatique d’un capteur LIDAR mobile multi-couches2015 |
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A note on the construction of right circular cylinders through five 3D points[Research Report] MINES ParisTech. 2003 |
Modélisation 3D automatique : outils de géométrie différentiellePresse des Mines, pp.200, 1999, Mathématique et informatique, 9782911762185 |
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Quelques outils de géométrie différentielle pour la construction automatique de modèles CAO à partir d'images télémétriquesVision par ordinateur et reconnaissance de formes [cs.CV]. École Nationale Supérieure des Mines de Paris, 1997. Français. ⟨NNT : 1997ENMP0735⟩ |