Scene Flow Estimation on AEVAScenes (val)
6.14Three-way EPE (Mean) [cm]Flow4D-XL
Evaluation Results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Flow4D-XLFramework=UniFlow, Evaluation Mode=Zero-shot2025.11 | 6.14 | 13.16 | 3.89 | 1.37 | 33.8 | 11.4 | 31.2 | 48 | 44.8 | |
| ΔFlowFramework=UniFlow, Evaluation Mode=Zero-shot2025.11 | 6.65 | 13.17 | 5.16 | 1.62 | 30.3 | 11.2 | 35.9 | 39.8 | 34.4 | |
| ΔFlowTraining Data=Waymo, Evaluation Mode=Zero-shot2025.11 | 7.01 | 16.27 | 3.59 | 1.19 | 39.1 | 12.3 | 64.8 | 42.6 | 42.6 | |
| Flow4DTraining Data=Waymo, Evaluation Mode=Zero-shot2025.11 | 8.14 | 18.89 | 4.03 | 1.5 | 40.8 | 15.2 | 56 | 49.1 | 56 | |
| SSFFramework=UniFlow, Evaluation Mode=Zero-shot2025.11 | 10.8 | 29.76 | 2.05 | 0.6 | 54.4 | 23.9 | 68.6 | 61.2 | 63.9 | |
| ΔFlowTraining Data=AV2, Evaluation Mode=Zero-shot2025.11 | 15.63 | 43.37 | 2.73 | 0.79 | 44.4 | 30.2 | 56 | 46 | 45.3 | |
| Flow4DTraining Data=AV2, Evaluation Mode=Zero-shot2025.11 | 16.13 | 43.2 | 3.19 | 2.01 | 41.9 | 31.7 | 43.4 | 49.1 | 43.3 | |
| SSFTraining Data=Waymo, Evaluation Mode=Zero-shot2025.11 | 20.59 | 59.38 | 1.86 | 0.53 | 81.1 | 51.3 | 95.7 | 87.7 | 89.9 | |
| ΔFlowTraining Data=nuScenes, Evaluation Mode=Zero-shot2025.11 | 21.8 | 49.91 | 4.12 | 1.56 | 45.7 | 39.6 | 59.6 | 43.5 | 40.2 | |
| Flow4DTraining Data=nuScenes, Evaluation Mode=Zero-shot2025.11 | 25.61 | 70.06 | 3.86 | 2.93 | 53.5 | 51.2 | 67.8 | 45.9 | 48.9 | |
| SSFTraining Data=nuScenes, Evaluation Mode=Zero-shot2025.11 | 31.04 | 88.68 | 3.08 | 1.36 | 77.2 | 68.9 | 86.5 | 77.5 | 75.9 | |
| SSFTraining Data=AV2, Evaluation Mode=Zero-shot2025.11 | 32.13 | 92.92 | 2.09 | 1.39 | 82.2 | 82.2 | 85.1 | 85.8 | 85.9 |