Scene Flow Estimation on nuScenes (val)
1.63Three-way EPE Mean (cm)ΔFlow (UniFlow)
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| ΔFlow (UniFlow)Supervision=Supervised2025.11 | 1.63 | 3.19 | 1.29 | 0.42 | 0.14 | 0.098 | 0.137 | 0.232 | 0.091 | |
| SynFlow-4k + FTSupervision=20% lab.2026.04 | 1.65 | 3.48 | 1.19 | 0.29 | 0.157 | 0.11 | 0.173 | 0.247 | 0.098 | |
| SSF (UniFlow)Supervision=Supervised2025.11 | 1.97 | 4.33 | 1.38 | 0.2 | 0.144 | 0.081 | 0.131 | 0.267 | 0.097 | |
| ΔFlowSupervision=Supervised2025.11 | 2.33 | 4.83 | 1.37 | 0.79 | 0.216 | 0.138 | 0.219 | 0.327 | 0.181 | |
| ∆FlowSupervision=20% lab.2026.04 | 2.33 | 4.83 | 1.37 | 0.79 | 0.216 | 0.138 | 0.219 | 0.327 | 0.181 | |
| SynFlow-4kSupervision=0% (synth. only)2026.04 | 2.6 | 6.06 | 1.28 | 0.46 | 0.242 | 0.177 | 0.307 | 0.3 | 0.183 | |
| SSFSupervision=Supervised2025.11 | 3 | 6.55 | 2.04 | 0.41 | 0.22 | 0.142 | 0.197 | 0.398 | 0.144 | |
| Flow4D-XL (UniFlow)Supervision=Supervised2025.11 | 3.01 | 7.28 | 1.47 | 0.28 | 0.196 | 0.137 | 0.219 | 0.272 | 0.157 | |
| Flow4DSupervision=Supervised2025.11 | 3.46 | 7.97 | 1.85 | 0.55 | 0.23 | 0.16 | 0.241 | 0.345 | 0.176 | |
| Flow4DSupervision=20% lab.2026.04 | 3.82 | 8.05 | 1.82 | 1.58 | 0.279 | 0.204 | 0.312 | 0.379 | 0.222 | |
| DeFlowSupervision=Supervised2025.11 | 3.98 | 6.99 | 3.45 | 1.5 | 0.314 | 0.163 | 0.286 | 0.533 | 0.275 | |
| DeFlowSupervision=20% lab.2026.04 | 3.98 | 6.99 | 3.45 | 1.5 | 0.314 | 0.163 | 0.286 | 0.533 | 0.275 | |
| TeFlow#F=5, Runtime per seq=7s, Method Category=Feed-forward2026.02 | 4.64 | 10.92 | 1.49 | 1.51 | 0.395 | 0.303 | 0.461 | 0.474 | 0.344 | |
| TeFlowSupervision=100% unlab.2026.04 | 4.64 | 10.92 | 1.49 | 1.51 | 0.395 | 0.303 | 0.461 | 0.474 | 0.344 | |
| SeFlow++#F=3, Runtime per seq=7.5s, Method Category=Feed-forward2026.02 | 6.13 | 14.59 | 1.96 | 1.86 | 0.509 | 0.327 | 0.583 | 0.716 | 0.409 | |
| SeFlow++Supervision=100% unlab.2026.04 | 6.13 | 14.59 | 1.96 | 1.86 | 0.509 | 0.327 | 0.583 | 0.716 | 0.409 | |
| VoteFlow#F=2, Runtime per seq=8s, Method Category=Feed-forward2026.02 | 7.8 | 15.65 | 3.51 | 4.24 | 0.538 | 0.355 | 0.605 | 0.78 | 0.41 | |
| VoteFlowSupervision=100% unlab.2026.04 | 7.8 | 15.65 | 3.51 | 4.24 | 0.538 | 0.355 | 0.605 | 0.78 | 0.41 | |
| SeFlow#F=2, Runtime per seq=6s, Method Category=Feed-forward2026.02 | 8.19 | 16.15 | 3.97 | 4.45 | 0.544 | 0.396 | 0.635 | 0.726 | 0.419 | |
| SeFlowSupervision=Unsupervised2025.11 | 8.19 | 16.15 | 3.97 | 4.45 | 0.554 | 0.396 | 0.635 | 0.726 | 0.419 | |
| SeFlowSupervision=100% unlab.2026.04 | 8.19 | 16.15 | 3.97 | 4.45 | 0.544 | 0.396 | 0.635 | 0.726 | 0.419 | |
| ICP-Flow#F=2, Runtime per seq=3.2m, Method Category=Optimization-based2026.02 | 8.81 | 17.53 | 3.51 | 5.38 | 0.569 | 0.43 | 0.569 | 0.749 | 0.53 | |
| NSFP#F=2, Runtime per seq=3.5m, Method Category=Optimization-based2026.02 | 10.79 | 20.26 | 4.88 | 7.23 | 0.602 | 0.463 | 0.456 | 0.829 | 0.662 | |
| NSFPSupervision=Unsupervised2025.11 | 10.79 | 20.26 | 4.88 | 7.23 | 0.602 | 0.463 | 0.456 | 0.829 | 0.662 | |
| FastNSF#F=2, Runtime per seq=2.6m, Method Category=Optimization-based2026.02 | 12.16 | 18.2 | 6.11 | 12.18 | 0.56 | 0.436 | 0.523 | 0.737 | 0.543 | |
| FastNSFSupervision=Unsupervised2025.11 | 12.16 | 18.2 | 6.11 | 12.18 | 0.56 | 0.436 | 0.523 | 0.737 | 0.543 | |
| Ego Motion FlowMethod Category=null2026.02 | 12.34 | 35.94 | 1.07 | 0 | 1 | 1 | 1 | 1 | 1 | |
| Ego Motion FlowSupervision=–2026.04 | 12.34 | 35.94 | 1.07 | 0 | 1 | 1 | 1 | 1 | 1 |