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DifFlow3D: Toward Robust Uncertainty-Aware Scene Flow Estimation with Iterative Diffusion-Based Refinement

Jiuming Liu, Guangming Wang, Weicai Ye, Chaokang Jiang, Jinru Han, Zhe Liu, Guofeng Zhang, Dalong Du, Hesheng Wang#

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024

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<img src="pipeline.png">

Environments

Our model is trained and tested under:

Please follow the instructions below for compiling the furthest point sampling, grouping and gathering operation for PyTorch.

cd pointnet2
python setup.py install
cd ../

Data preprocess

We adopt the equivalent preprocessing steps in HPLFlowNet and PointPWCNet.

python3 data_preprocess/process_flyingthings3d_subset.py --raw_data_path RAW_DATA_PATH --save_path SAVE_PATH/FlyingThings3D_subset_processed_35m --only_save_near_pts
python3 data_preprocess/process_kitti.py RAW_DATA_PATH SAVE_PATH/KITTI_processed_occ_final

Evaluation

Set data_root in the configuration file to SAVE_PATH in the data preprocess section before evaluation.

We provide pretrained model in pretrain_weights.

Please run the following instrcutions for evaluation.

Train

If you want to train from scratch, please set data_root in the configuration file to SAVE_PATH in the data preprocess section before evaluation at the first. Then excute following instructions.

Quantitative results:

without occlusion

<img src="no_occ.png">

with occlusion

<img src="occ.png">

Citation

@inproceedings{liu2024difflow3d,
  title={DifFlow3D: Toward Robust Uncertainty-Aware Scene Flow Estimation with Iterative Diffusion-Based Refinement},
  author={Liu, Jiuming and Wang, Guangming and Ye, Weicai and Jiang, Chaokang and Han, Jinru and Liu, Zhe and Zhang, Guofeng and Du, Dalong and Wang, Hesheng},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages={15109--15119},
  year={2024}
}

Acknowledgments

We thank the following open-source project for the help of the implementations: