Scene Flow Estimation

67 papers with code • 5 benchmarks • 8 datasets

Optical flow is a two-dimensional motion field in the image plane. It is the projection of the three-dimensional motion of the world. If the world is completely non-rigid, the motions of the points in the scene may all be indepen- dent of each other. One representation of the scene motion is therefore a dense three-dimensional vector field defined for every point on every surface in the scene. By analogy with optical flow, we refer to this three-dimensional motion field as scene flow.

Source: Vedula, Sundar, et al. "Three-dimensional scene flow." IEEE transactions on pattern analysis and machine intelligence 27.3 (2005): 475-480. pdf

Most implemented papers

Scalable Scene Flow from Point Clouds in the Real World

kth-rpl/deflow 1 Mar 2021

In this work, we introduce a new large-scale dataset for scene flow estimation derived from corresponding tracked 3D objects, which is $\sim$1, 000$\times$ larger than previous real-world datasets in terms of the number of annotated frames.

A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimation


By combining a flow and disparity estimation network and training it jointly, we demonstrate the first scene flow estimation with a convolutional network.

HPLFlowNet: Hierarchical Permutohedral Lattice FlowNet for Scene Flow Estimation on Large-scale Point Clouds

laoreja/HPLFlowNet CVPR 2019

We present a novel deep neural network architecture for end-to-end scene flow estimation that directly operates on large-scale 3D point clouds.

MeteorNet: Deep Learning on Dynamic 3D Point Cloud Sequences

xingyul/meteornet ICCV 2019

Understanding dynamic 3D environment is crucial for robotic agents and many other applications.

Accurate Point Cloud Registration with Robust Optimal Transport

uncbiag/shapmagn NeurIPS 2021

Finally, we showcase the performance of transport-enhanced registration models on a wide range of challenging tasks: rigid registration for partial shapes; scene flow estimation on the Kitti dataset; and nonparametric registration of lung vascular trees between inspiration and expiration.

Self-Supervised Scene Flow Estimation with 4-D Automotive Radar

toytiny/raflow 2 Mar 2022

Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy.

Spring: A High-Resolution High-Detail Dataset and Benchmark for Scene Flow, Optical Flow and Stereo

cv-stuttgart/sceneflow_from_blender CVPR 2023

While recent methods for motion and stereo estimation recover an unprecedented amount of details, such highly detailed structures are neither adequately reflected in the data of existing benchmarks nor their evaluation methodology.

DeFlow: Decoder of Scene Flow Network in Autonomous Driving

kth-rpl/deflow 29 Jan 2024

Scene flow estimation determines a scene's 3D motion field, by predicting the motion of points in the scene, especially for aiding tasks in autonomous driving.

Let It Flow: Simultaneous Optimization of 3D Flow and Object Clustering

ctu-vras/let-it-flow 12 Apr 2024

We identified the structural constraints and the use of large and strict rigid clusters as the main pitfall of the current approaches and we propose a novel clustering approach that allows for combination of overlapping soft clusters as well as non-overlapping rigid clusters representation.

Learning Rigidity in Dynamic Scenes with a Moving Camera for 3D Motion Field Estimation

NVlabs/learningrigidity ECCV 2018

Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems.