SSF: Sparse Long-Range Scene Flow for Autonomous DrivingShow 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
2025-10-092025-10-092025-10-09Bibliographically approved