# 3D Scene Flow on Kitti (test) Source: [3D Scene Flow on Kitti (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:41:49.414Z Evaluation of 3D Scene Flow performance on the test split of the Kitti dataset, measured using EPE3D, Acc3DS, Acc3DR, Outliers3D, EPE2D, and Acc2D metrics. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | 3D Scene Flow | | Dataset (including any stated split) | Kitti (test) | | Metric | EPE 3D | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 18 of 18 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [EPE 3D](): Lower is better; unit: SCALAR. - [Acc 3D (Source)](): Higher is better; unit: PERCENT. - [Acc 3D (Relative)](): Higher is better; unit: PERCENT. - [Outlier Rate 3D](): Lower is better; unit: PERCENT. - [EPE 2D](): Lower is better; unit: SCALAR. - [Acc 2D](): Higher is better; unit: PERCENT. ## Recorded results | Method | EPE 3D | Result date | Report paper | | --- | --- | --- | --- | | D-RobOT (spline) | 2.23 | Not recorded | 68fa6b2f1e209131cea2cad2 | | D-RobOT (spline) | 3.15 | Not recorded | 68fa6b2f1e209131cea2cad2 | | Pre + PWC + Post | 3.35 | Not recorded | 68fa6b2f1e209131cea2cad2 | | Pre + PWC + Post | 3.5 | Not recorded | 68fa6b2f1e209131cea2cad2 | | RobOT (raw) | 4.67 | Not recorded | 68fa6b2f1e209131cea2cad2 | | PWC | 5.28 | Not recorded | 68fa6b2f1e209131cea2cad2 | | Pre + FLOT + Post | 5.33 | Not recorded | 68fa6b2f1e209131cea2cad2 | | FLOT | 5.51 | Not recorded | 68fa6b2f1e209131cea2cad2 | | PWC | 7.63 | Not recorded | 68fa6b2f1e209131cea2cad2 | | RobOT (raw) | 9.12 | Not recorded | 68fa6b2f1e209131cea2cad2 | | HPLFlowNet | 11.69 | Not recorded | 68fa6b2f1e209131cea2cad2 | | original BCL | 17.29 | Not recorded | 68fa6b2f1e209131cea2cad2 | | FlowNet3D | 17.67 | Not recorded | 68fa6b2f1e209131cea2cad2 | | SPLATFlowNet | 19.88 | Not recorded | 68fa6b2f1e209131cea2cad2 | | PWC (self) | 25.49 | Not recorded | 68fa6b2f1e209131cea2cad2 | | CPD (non-rigid) | 41.44 | Not recorded | 68fa6b2f1e209131cea2cad2 | | FGR (rigid) | 48.35 | Not recorded | 68fa6b2f1e209131cea2cad2 | | ICP (rigid) | 51.81 | Not recorded | 68fa6b2f1e209131cea2cad2 | ### D-RobOT (spline) EPE 3D: 2.23. Result ID: 698e6b80ffc3901de09d737b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"30k","Time (ms)":547,"Memory (Mb)":610}. This record does not assert independent reproduction. ### D-RobOT (spline) EPE 3D: 3.15. Result ID: 698e6b80ffc3901de09d737a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"8k","Time (ms)":268,"Memory (Mb)":396}. This record does not assert independent reproduction. ### Pre + PWC + Post EPE 3D: 3.35. Result ID: 698e6b80ffc3901de09d7378. [Reporting paper]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"8k","Time (ms)":279,"Memory (Mb)":1034}. This record does not assert independent reproduction. ### Pre + PWC + Post EPE 3D: 3.5. Result ID: 698e6b80ffc3901de09d7379. [Reporting paper]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"30k","Time (ms)":1207,"Memory (Mb)":10691}. This record does not assert independent reproduction. ### RobOT (raw) EPE 3D: 4.67. Result ID: 698e6b80ffc3901de09d736f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Supervision":"Unsupervised","Points":"30k","Time (ms)":166,"Memory (Mb)":89}. This record does not assert independent reproduction. ### PWC EPE 3D: 5.28. Result ID: 698e6b80ffc3901de09d7375. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"8k","Time (ms)":237,"Memory (Mb)":1016}. This record does not assert independent reproduction. ### Pre + FLOT + Post EPE 3D: 5.33. Result ID: 698e6b80ffc3901de09d7377. [Reporting paper]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"8k","Time (ms)":487,"Memory (Mb)":2826}. This record does not assert independent reproduction. ### FLOT EPE 3D: 5.51. Result ID: 698e6b80ffc3901de09d7374. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"8k","Time (ms)":324,"Memory (Mb)":2826}. This record does not assert independent reproduction. ### PWC EPE 3D: 7.63. Result ID: 698e6b80ffc3901de09d7376. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"30k","Time (ms)":1138,"Memory (Mb)":10691}. This record does not assert independent reproduction. ### RobOT (raw) EPE 3D: 9.12. Result ID: 698e6b80ffc3901de09d736e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Supervision":"Unsupervised","Points":"8k","Time (ms)":170,"Memory (Mb)":3}. This record does not assert independent reproduction. ### HPLFlowNet EPE 3D: 11.69. Result ID: 698e6b80ffc3901de09d7373. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"8k"}. This record does not assert independent reproduction. ### original BCL EPE 3D: 17.29. Result ID: 698e6b80ffc3901de09d7372. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"8k"}. This record does not assert independent reproduction. ### FlowNet3D EPE 3D: 17.67. Result ID: 698e6b80ffc3901de09d7370. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"8k"}. This record does not assert independent reproduction. ### SPLATFlowNet EPE 3D: 19.88. Result ID: 698e6b80ffc3901de09d7371. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Supervision":"Supervised (FlyingThings3D)","Points":"8k"}. This record does not assert independent reproduction. ### PWC (self) EPE 3D: 25.49. Result ID: 698e6b80ffc3901de09d736d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Supervision":"Unsupervised","Points":"8k","Time (ms)":237,"Memory (Mb)":1016}. This record does not assert independent reproduction. ### CPD (non-rigid) EPE 3D: 41.44. Result ID: 698e6b80ffc3901de09d736c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Supervision":"Unsupervised","Points":"8k","Time (ms)":34880,"Memory (Mb)":798}. This record does not assert independent reproduction. ### FGR (rigid) EPE 3D: 48.35. Result ID: 698e6b80ffc3901de09d736b. [Reporting paper]() Recorded evaluation configuration: {"Supervision":"Unsupervised","Points":"8k","Time (ms)":30}. This record does not assert independent reproduction. ### ICP (rigid) EPE 3D: 51.81. Result ID: 698e6b80ffc3901de09d736a. [Reporting paper]() Recorded evaluation configuration: {"Supervision":"Unsupervised","Points":"8k","Time (ms)":224,"Memory (Mb)":2}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.