ouya-bytes / awesome-point-cloud-scene-flow

A list of point cloud scene flow papers, codes and datasets.

Awesome-Point-Cloud-Scene-Flow

- Recent papers (from 2019) 
- welcome to add if any information misses. 😎

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2022

• [arXiv] PointConvFormer: Revenge of the Point-based Convolution [2208.02879]
• [ECCV 22] Dynamic 3D Scene Analysis by Point Cloud Accumulation [2207.12394] [code]
• [ECCV 22] What Matters for 3D Scene Flow Network [2207.09143] [code]
• [ECCV 22] Bi-PointFlowNet: Bidirectional Learning for Point Cloud Based Scene Flow Estimation [2207.07522] [code]
• [CVPR 22] RCP: Recurrent Closest Point for Scene Flow Estimation on 3D Point Clouds [2205.11028] [code]
• [CVPR 22] Deformation and Correspondence Aware Unsupervised Synthetic-to-Real Scene Flow Estimation for Point Clouds [2203.16895] [code]
• [ICRA 22] RMS-FlowNet: Efficient and Robust Multi-Scale Scene Flow Estimation for Large-Scale Point Clouds [2204.00354]
• [AAAI 22] Self-Supervised Robust Scene Flow Estimation via the Alignment of Probability Density Functions [2203.12193]
• [IJCV] Learning Scene Dynamics from Point Cloud Sequences [2111.08755] [code]
• [arXiv] Self-Supervised Scene Flow Estimation with 4D Automotive Radar [2203.01137][code]
• [arXiv] Learning Scene Flow in 3D Point Clouds with Noisy Pseudo Labels [2203.12655]

2021

• [CVPR 21] Self-Supervised Pillar Motion Learning for Autonomous Driving [2104.08683][code]
• [CVPR 21] Learning to Segment Rigid Motions from Two Frames [2101.03694][code]
• [CVPR 21 Oral] Weakly Supervised Learning of Rigid 3D Scene Flow [2102.08945][code]
• [RA-L 21] Scalable Scene Flow from Point Clouds in the Real World [2103.01306] [code]
• [CVPR 21] FESTA: Flow Estimation via Spatial-Temporal Attention for Scene Point Clouds [2104.00798] [code]
• [CVPRW 21] Occlusion Guided Scene Flow Estimation on 3D Point Clouds [2104.00798] [code]
• [3DV 21] Occlusion Guided Self-supervised Scene Flow Estimation on 3D Point Clouds [2104.04724]
• [arXiv] SCTN: Sparse Convolution-Transformer Network for Scene Flow Estimation [2105.04447]
• [CVPR 21] HCRF-Flow: Scene Flow from Point Clouds with Continuous High-order CRFs and Position-aware Flow Embedding [2105.07751]
• [CVPR 21 Oral] Self-Point-Flow: Self-Supervised Scene Flow Estimation from Point Clouds with Optimal Transport and Random Walk [2105.08248]
• [TIM 22] Residual 3D Scene Flow Learning with Context-Aware Feature Extraction [2109.04685]
• [NeurIPS 21] Accurate Point Cloud Registration with Robust Optimal Transport [2111.00648] [code]
• [NeurIPS 21 spotlight] Neural Scene Flow Prior [2111.01253] [code]

2020

• [ECCV 20] PointPWC-Net: A Coarse-to-Fine Network for Supervised and Self-Supervised Scene Flow Estimation on 3D Point Clouds [1911.12408][code]
• [ECCV 20] FLOT: Scene Flow on Point Clouds Guided by Optimal Transport [2007.11142][code]
• [3DV 20] Self-Supervised Learning of Non-Rigid Residual Flow and Ego-Motion [2009.10467] [code]
• [3DV 20] Scene Flow from Point Clouds with or without Learning [2011.00320]
• [3DV 20] Adversarial Self-Supervised Scene Flow Estimation [2011.00551]
• [WACV 20] FlowNet3D++: Geometric Losses For Deep Scene Flow Estimation [1912.01438]
• [CVPR 20] Just Go With the Flow: Self-Supervised Scene Flow Estimation [1912.00497][code]
• [TIP 21] Hierarchical Attention Learning of Scene Flow in 3D Point Clouds [2010.05762]
• [CVPR 21] PWCLO-Net: Deep LiDAR Odometry in 3D Point Clouds Using Hierarchical Embedding Mask Optimization [2012.00972]
• [CVPR 21] FlowStep3D: Model Unrolling for Self-Supervised Scene Flow Estimation [2011.10147]
• [CVPR 21] RAFT-3D: Scene Flow using Rigid-Motion Embeddings [2012.00726]
• [CVPR 21] PV-RAFT: Point-Voxel Correlation Fields for Scene Flow Estimation of Point Clouds [2012.00987] [code]
• VoxFlowNet: Learning Scene Flow in 3D Point Clouds through Voxel Grids [code]
• [IROS 20] PillarFlowNet: A Real-time Deep Multitask Network for LiDAR-based 3D Object Detection and Scene Flow Estimation [IROS20]

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2019

• [ICCV 19] MeteorNet: Deep Learning on Dynamic 3D Point Cloud Sequences [1910.09165][code]
• [CVPR 19] FlowNet3D: Learning Scene Flow in 3D Point Clouds [1806.01411][code]
• [CVPR 19] HPLFlowNet: Hierarchical Permutohedral Lattice FlowNet for Scene Flow Estimation on Large-scale Point Clouds [1906.05332][code]

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Dataset

Since there is currently no raw dataset for Scene Flow Estimation with a point cloud as input, the pioneers FlowNet3D and HPLFlowNet provide two versions of the dataset based on the raw dataset.

• FlyingThings3D [official website]
• KITTI 2015 [official website]
• Processed by FlowNet3D [code]
• Processed by HPLFlowNet [code]

There are some differences in the way FlowNet3D and HPLFlowNet process data. [FlowNet3D only provides the code to process FlyingThings3D, HPLFlowNet provides code to process FlyingThings3D and KITTI15] Some papers will compare two kinds of data at the same time. [But at the moment there seems to be more comparisons on HPLFlowNet]