You would need to use GeckoDriver for Firefox. This was not needed for the older versions of Selenium 2.x, but it's required with Selenium 3.x
You would need to download GeckoDriver based on if your FF browser is 32-bit or 64-bit. You would also need to provide GeckoDriver and FirefoxBirnary path. Sample code that you can use to launch browser -
System.setProperty("webdriver.gecko.driver","D:\\Firefox\\geckodriver.exe");
FirefoxOptions options = new FirefoxOptions();
options.setBinary("C:\\Program Files (x86)\\Mozilla Firefox\\firefox.exe"); //This is the location where you have installed Firefox on your machine
FirefoxDriver driver = new FirefoxDriver(options);
driver.get("http://www.google.com");
You can check this link for more info - http://www.automationtestinghub.com/selenium-3-0-launch-firefox-with-geckodriver/