DeFlow: Decoder of Scene Flow Network in Autonomous Driving

作者：Qingwen Zhang, Yi Yang, Heng Fang, Ruoyu Geng, Patric Jensfelt · 年份：2024 · DOI：10.1109/icra57147.2024.10610278 · 被引用次数：22 · 研究领域：Advanced Vision and Imaging、Computer Graphics and Visualization Techniques、Video Coding and Compression Technologies

Scene flow estimation determines a scene’s 3D motion field, by predicting the motion of points in the scene, especially for aiding tasks in autonomous driving. Many networks with large-scale point clouds as input use voxelization to create a pseudo-image for real-time running. However, the voxelization process often results in the loss of point-specific features. This gives rise to a challenge in recovering those features for scene flow tasks. Our paper introduces DeFlow which enables a transition from voxel-based features to point features using Gated Recurrent Unit (GRU) refinement. To further enhance scene flow estimation performance, we formulate a novel loss function that accounts for the data imbalance between static and dynamic points. Evaluations on the Argoverse 2 scene flow task reveal that DeFlow achieves state-of-the-art results on large-scale point cloud data, demonstrating that our network has better performance and efficiency compared to others. The code is available at https://github.com/KTH-RPL/deflow.