LiDAR Scene Flow on TruckScenes (val)
100Dynamic Bucket Normalized MeanEgo Motion Flow
Evaluation results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Ego Motion FlowSupervision=–2026.04 | 100 | — | — | — | — | 100 | 100 | — | 100 | 100 | 61.43 | 184.3 | 0 | 0 | — | — | — | — | — | |
| SeFlowEvaluation Protocol=Unsupervised2025.11 | 68.1 | 37.41 | 103.97 | 1.56 | 6.68 | 49.4 | 75.2 | 0.886 | 59.1 | — | — | — | — | — | — | — | — | — | — | |
| SeFlowSupervision=100% unlab.2026.04 | 68.1 | — | — | — | — | 49.4 | 75.2 | — | 59.1 | 88.6 | 37.41 | 103.97 | 1.56 | 6.68 | — | — | — | — | — | |
| VoteFlowSupervision=100% unlab.2026.04 | 68 | — | — | — | — | 51.7 | 73.7 | — | 57.3 | 89.5 | 36.47 | 103.48 | 1.29 | 4.64 | — | — | — | — | — | |
| NSFPEvaluation Protocol=Unsupervised2025.11 | 65.8 | 45.63 | 120.45 | 2.07 | 14.38 | 30.3 | 35 | 1.221 | 75.8 | — | — | — | — | — | — | — | — | — | — | |
| SeFlow++Supervision=100% unlab.2026.04 | 65.3 | — | — | — | — | 51.9 | 73.8 | — | 49.7 | 86 | 33.35 | 95.62 | 1.2 | 3.23 | — | — | — | — | — | |
| FastNSFEvaluation Protocol=Unsupervised2025.11 | 58.8 | 30.72 | 59.44 | 3.35 | 29.38 | 21.8 | 37.6 | 1.124 | 63.5 | — | — | — | — | — | — | — | — | — | — | |
| DeFlowEvaluation Protocol=Supervised2025.11 | 57 | 7.3 | 16.47 | 1.67 | 3.77 | 18 | 41 | 0.97 | 73 | — | — | — | — | — | — | — | — | — | — | |
| DeFlowSupervision=20% lab.2026.04 | 57 | — | — | — | — | 18 | 41 | — | 73 | 97 | 7.3 | 16.47 | 1.67 | 3.77 | — | — | — | — | — | |
| ICP FlowEvaluation Protocol=Unsupervised2025.11 | 47.2 | 58.82 | 169.91 | 1.43 | 5.12 | 30.2 | 61.4 | 0.596 | 37.6 | — | — | — | — | — | — | — | — | — | — | |
| Flow4DEvaluation Protocol=Supervised2025.11 | 45.6 | 16.14 | 44.87 | 1.71 | 1.85 | 17.6 | 35.1 | 0.885 | 41.3 | — | — | — | — | — | — | — | — | — | — | |
| Flow4DSupervision=20% lab.2026.04 | 45.6 | — | — | — | — | 17.6 | 35.1 | — | 41.3 | 88.5 | 16.14 | 44.87 | 1.71 | 1.85 | — | — | — | — | — | |
| SSFEvaluation Protocol=Supervised2025.11 | 45.3 | 6.2 | 15.17 | 1.01 | 2.44 | 21.5 | 30.8 | 0.875 | 41.4 | — | — | — | — | — | — | — | — | — | — | |
| SSF (UniFlow)Evaluation Protocol=Zero-shot2025.11 | 43.5 | 35.23 | 103.72 | 1.69 | 0.27 | 14.9 | 45.5 | 0.669 | 46.6 | — | — | — | — | — | — | — | — | — | — | |
| TeFlowSupervision=100% unlab.2026.04 | 42.5 | — | — | — | — | 25.4 | 45.5 | — | 35.3 | 63.6 | 41.97 | 116.55 | 1.32 | 8.06 | — | — | — | — | — | |
| $Δ$FlowEvaluation Protocol=Supervised2025.11 | 40.2 | 7.28 | 16.26 | 1.36 | 4.52 | 19.6 | 40 | 0.69 | 32.3 | — | — | — | — | — | — | — | — | — | — | |
| ∆FlowSupervision=20% lab.2026.04 | 40.2 | — | — | — | — | 19.6 | 40 | — | 32.3 | 69 | 7.28 | 16.26 | 1.36 | 4.52 | — | — | — | — | — | |
| $Δ$Flow (UniFlow)Evaluation Protocol=Zero-shot2025.11 | 28.3 | 16.04 | 45.76 | 1.02 | 1.32 | 10.1 | 29.3 | 0.513 | 22.6 | — | — | — | — | — | — | — | — | — | — | |
| Flow4D-XL (UniFlow)Evaluation Protocol=Zero-shot2025.11 | 28.1 | 23.59 | 68.41 | 1.78 | 0.57 | 8.8 | 27.7 | 0.53 | 23 | — | — | — | — | — | — | — | — | — | — | |
| SynFlow-4kSupervision=0% (synth. only)2026.04 | 27.4 | — | — | — | — | 10.9 | 22 | — | 30 | 46.7 | 25.25 | 74.16 | 1.02 | 0.58 | — | — | — | — | — | |
| SynFlow-4k + FTSupervision=20% lab.2026.04 | 26.6 | — | — | — | — | 8.2 | 23.2 | — | 28.5 | 46.4 | 6.75 | 15.7 | 0.98 | 3.58 | — | — | — | — | — | |
| CMFlowCategory=Radar-based, Supervision=Full&Cross2026.05 | — | 13.42 | — | — | — | — | — | — | — | — | — | — | — | — | 38.2 | 73.17 | 0.0531 | 0.0253 | 0.0522 | |
| DeFlowCategory=LiDAR-based, Supervision=Full2026.05 | — | 19.84 | — | — | — | — | — | — | — | — | — | — | — | — | 38.13 | 63.48 | 0.0783 | 0.0748 | 0.0745 | |
| Flow4DCategory=LiDAR-based, Supervision=Full2026.05 | — | 23.68 | — | — | — | — | — | — | — | — | — | — | — | — | 19.07 | 51.93 | 0.0934 | 0.1077 | 0.0866 | |
| IterFlowCategory=Radar-based, Supervision=Cross2026.05 | — | 11.03 | — | — | — | — | — | — | — | — | — | — | — | — | 64.3 | 83 | 0.0435 | 0.068 | 0.0389 | |
| IterFlow*Category=Radar-based, Supervision=Cross, Use ground truth 3D track IDs=true2026.05 | — | 9.96 | — | — | — | — | — | — | — | — | — | — | — | — | 68.53 | 84.65 | 0.0393 | 0.0673 | 0.0342 | |
| PointPWCCategory=LiDAR-based, Supervision=Full2026.05 | — | 11.51 | — | — | — | — | — | — | — | — | — | — | — | — | 70.63 | 86.23 | 0.0454 | 0.0639 | 0.0413 | |
| RaFlowCategory=Radar-based, Supervision=Self2026.05 | — | 45.37 | — | — | — | — | — | — | — | — | — | — | — | — | 2.59 | 13.43 | 0.1789 | 0.1334 | 0.171 |