Scene Flow Estimation on nuScenes (val) benchmark leaderboard · SOTA2 Research

Scene Flow Estimation on nuScenes (val)

1.63Three-way EPE Mean (cm)ΔFlow (UniFlow)

Evaluation Results

Method	Links
ΔFlow (UniFlow)2025.11		1.63	3.19	1.29	0.42	0.14	0.098	0.137	0.232	0.091
SynFlow-4k + FT2026.04		1.65	3.48	1.19	0.29	0.157	0.11	0.173	0.247	0.098
SSF (UniFlow)2025.11		1.97	4.33	1.38	0.2	0.144	0.081	0.131	0.267	0.097
ΔFlow2025.11		2.33	4.83	1.37	0.79	0.216	0.138	0.219	0.327	0.181
∆Flow2026.04		2.33	4.83	1.37	0.79	0.216	0.138	0.219	0.327	0.181
SynFlow-4k2026.04		2.6	6.06	1.28	0.46	0.242	0.177	0.307	0.3	0.183
SSF2025.11		3	6.55	2.04	0.41	0.22	0.142	0.197	0.398	0.144
Flow4D-XL (UniFlow)2025.11		3.01	7.28	1.47	0.28	0.196	0.137	0.219	0.272	0.157
Flow4D2025.11		3.46	7.97	1.85	0.55	0.23	0.16	0.241	0.345	0.176
Flow4D2026.04		3.82	8.05	1.82	1.58	0.279	0.204	0.312	0.379	0.222
DeFlow2025.11		3.98	6.99	3.45	1.5	0.314	0.163	0.286	0.533	0.275
DeFlow2026.04		3.98	6.99	3.45	1.5	0.314	0.163	0.286	0.533	0.275
TeFlow2026.02		4.64	10.92	1.49	1.51	0.395	0.303	0.461	0.474	0.344
TeFlow2026.04		4.64	10.92	1.49	1.51	0.395	0.303	0.461	0.474	0.344
SeFlow++2026.02		6.13	14.59	1.96	1.86	0.509	0.327	0.583	0.716	0.409
SeFlow++2026.04		6.13	14.59	1.96	1.86	0.509	0.327	0.583	0.716	0.409
VoteFlow2026.02		7.8	15.65	3.51	4.24	0.538	0.355	0.605	0.78	0.41
VoteFlow2026.04		7.8	15.65	3.51	4.24	0.538	0.355	0.605	0.78	0.41
SeFlow2026.02		8.19	16.15	3.97	4.45	0.544	0.396	0.635	0.726	0.419
SeFlow2025.11		8.19	16.15	3.97	4.45	0.554	0.396	0.635	0.726	0.419
SeFlow2026.04		8.19	16.15	3.97	4.45	0.544	0.396	0.635	0.726	0.419
ICP-Flow2026.02		8.81	17.53	3.51	5.38	0.569	0.43	0.569	0.749	0.53
NSFP2026.02		10.79	20.26	4.88	7.23	0.602	0.463	0.456	0.829	0.662
NSFP2025.11		10.79	20.26	4.88	7.23	0.602	0.463	0.456	0.829	0.662
FastNSF2026.02		12.16	18.2	6.11	12.18	0.56	0.436	0.523	0.737	0.543
FastNSF2025.11		12.16	18.2	6.11	12.18	0.56	0.436	0.523	0.737	0.543
Ego Motion Flow2026.02		12.34	35.94	1.07	0	1	1	1	1	1
Ego Motion Flow2026.04		12.34	35.94	1.07	0	1	1	1	1	1