LiDAR Scene Flow Estimation on Argoverse v2 (val)
0.129EPE (m) - Dynamic ForegroundChodosh et al.
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Chodosh et al.Runtime (ms)=35281.4, Subsampled Size=Full Point Cloud2023.05 | 0.129 | — | — | 0.028 | — | — | 0.008 | — | — | 0.055 | |
| ZeroFlow XL 3XArchitecture=XL, Data Scale=3X, Supervision=Self-supervised (Distillation), Runtime (ms)=260.61, Subsampled Size=Full Point Cloud2023.05 | 0.131 | — | — | 0.018 | — | — | 0.012 | — | — | 0.054 | |
| NSFP w/ Motion CompRuntime (ms)=26285, Subsampled Size=Full Point Cloud2023.05 | 0.131 | — | — | 0.036 | — | — | 0.034 | — | — | 0.067 | |
| Chodosh et al.Time=35s2024.02 | 0.1311 | 49.4 | 71.78 | 0.0261 | 89.52 | 97.15 | 0.0213 | 91.37 | 96.51 | — | |
| NSFPTime=26s2024.02 | 0.1328 | 48.84 | 70.97 | 0.0343 | 87.65 | 96.37 | 0.0371 | 89.19 | 95.92 | — | |
| FastFlow3D XLArchitecture=XL, Supervision=Human supervised, Runtime (ms)=260.61, Subsampled Size=Full Point Cloud2023.05 | 0.139 | — | — | 0.018 | — | — | 0.007 | — | — | 0.055 | |
| ZeroFlow 5XArchitecture=Standard, Data Scale=5X, Supervision=Self-supervised (Distillation), Runtime (ms)=29.33, Subsampled Size=Full Point Cloud2023.05 | 0.14 | — | — | 0.017 | — | — | 0.011 | — | — | 0.056 | |
| GojcicRuntime (ms)=6087.87, Subsampled Size=200002023.05 | 0.155 | — | — | 0.064 | — | — | 0.032 | — | — | 0.083 | |
| ZeroFlow 3XArchitecture=Standard, Data Scale=3X, Supervision=Self-supervised (Distillation), Runtime (ms)=29.33, Subsampled Size=Full Point Cloud2023.05 | 0.164 | — | — | 0.017 | — | — | 0.011 | — | — | 0.064 | |
| OursTime=3.5s2024.02 | 0.1653 | 48.61 | 70.7 | 0.0391 | 79.31 | 95.32 | 0.032 | 86.68 | 95.68 | — | |
| PPWCRuntime (ms)=79.43, Subsampled Size=81922023.05 | 0.168 | — | — | 0.092 | — | — | 0.129 | — | — | 0.13 | |
| Ours+FNNTime=29ms2024.02 | 0.1697 | 36.01 | 62.88 | 0.0189 | 94.76 | 99.22 | 0.0035 | 99.37 | 99.61 | — | |
| FlowStep3DRuntime (ms)=687.54, Subsampled Size=81922023.05 | 0.173 | — | — | 0.132 | — | — | 0.176 | — | — | 0.161 | |
| ZeroFlow XL 1XArchitecture=XL, Data Scale=1X, Supervision=Self-supervised (Distillation), Runtime (ms)=260.61, Subsampled Size=Full Point Cloud2023.05 | 0.178 | — | — | 0.019 | — | — | 0.013 | — | — | 0.07 | |
| FastFlowTime=29ms, Label=Yes2024.02 | 0.1836 | 22.52 | 50.67 | 0.0198 | 92.49 | 96.86 | 0.0064 | 98.38 | 99.09 | — | |
| FastFlow3DArchitecture=Standard, Supervision=Human supervised, Runtime (ms)=29.33, Subsampled Size=Full Point Cloud2023.05 | 0.186 | — | — | 0.021 | — | — | 0.006 | — | — | 0.071 | |
| ZeroFlowTime=29ms2024.02 | 0.2244 | 15.82 | 40.04 | 0.0205 | 94.67 | 97.8 | 0.0125 | 97.62 | 98.88 | — | |
| Sim2RealRuntime (ms)=99.35, Subsampled Size=81922023.05 | 0.229 | — | — | 0.106 | — | — | 0.137 | — | — | 0.157 | |
| ZeroFlow 1XArchitecture=Standard, Data Scale=1X, Supervision=Self-supervised (Distillation), Runtime (ms)=29.33, Subsampled Size=Full Point Cloud2023.05 | 0.231 | — | — | 0.022 | — | — | 0.011 | — | — | 0.088 | |
| FastNSFTime=0.5s2024.02 | 0.3684 | 23.6 | 39.24 | 0.0227 | 94.65 | 99.02 | 0.0268 | 93.13 | 98.19 | — | |
| EgoFlowRuntime (ms)=2116.34, Subsampled Size=81922023.05 | 0.447 | — | — | 0.079 | — | — | 0.09 | — | — | 0.205 | |
| ICPRuntime (ms)=523.11, Subsampled Size=Full Point Cloud2023.05 | 0.557 | — | — | 0.025 | — | — | 0.028 | — | — | 0.204 | |
| OdometrySubsampled Size=Full Point Cloud2023.05 | 0.583 | — | — | 0.01 | — | — | 0 | — | — | 0.198 |