kth.sePublications KTH
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
SSF: Sparse Long-Range Scene Flow for Autonomous Driving
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL. Autonomous Transport Solutions Lab, Scania Group, Södertälje, Sweden, SE-15139.ORCID iD: 0009-0009-6935-6797
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-7882-948X
Stanford University, USA, CA-94305.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
Show others and affiliations
2025 (English)In: 2025 IEEE International Conference on Robotics and Automation, ICRA 2025, Institute of Electrical and Electronics Engineers (IEEE) , 2025, p. 6394-6400Conference paper, Published paper (Refereed)
Abstract [en]

Scene flow enables an understanding of the motion characteristics of the environment in the 3D world. It gains particular significance in the long-range, where object-based perception methods might fail due to sparse observations far away. Although significant advancements have been made in scene flow pipelines to handle large-scale point clouds, a gap remains in scalability with respect to long-range. We attribute this limitation to the common design choice of using dense feature grids, which scale quadratically with range. In this paper, we propose Sparse Scene Flow (SSF), a general pipeline for long-range scene flow, adopting a sparse convolution based backbone for feature extraction. This approach introduces a new challenge: a mismatch in size and ordering of sparse feature maps between time-sequential point scans. To address this, we propose a sparse feature fusion scheme, that augments the feature maps with virtual voxels at missing locations. Additionally, we propose a range-wise metric that implicitly gives greater importance to faraway points. Our method, SSF, achieves state-of-the-art results on the Argoverse2 dataset, demonstrating strong performance in long-range scene flow estimation. Our code is open-sourced at https://github.com/KTH-RPL/SSF.git.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2025. p. 6394-6400
National Category
Computer graphics and computer vision Computer Sciences Condensed Matter Physics Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-371385DOI: 10.1109/ICRA55743.2025.11128770Scopus ID: 2-s2.0-105016555490ISBN: 979-8-3315-4139-2 (print)OAI: oai:DiVA.org:kth-371385DiVA, id: diva2:2005169
Conference
2025 IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, United States of America, May 19 2025 - May 23 2025
Note

Part of ISBN 979-8-3315-4139-2

QC 20251009

Available from: 2025-10-09 Created: 2025-10-09 Last updated: 2025-10-09Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records

Khoche, AjinkyaZhang, QingwenAsefaw, AronJensfelt, Patric

Search in DiVA

By author/editor
Khoche, AjinkyaZhang, QingwenAsefaw, AronJensfelt, Patric
By organisation
Robotics, Perception and Learning, RPL
Computer graphics and computer visionComputer SciencesCondensed Matter PhysicsSignal Processing

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 60 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf