mlsanityData to 7 Oct 2026

Deep Rigid Instance Scene Flow

arXiv 1904.08913 ↗First posted 18 Apr 2019cs.CV cs.ROcited by 54

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Abstract (arXiv)

In this paper we tackle the problem of scene flow estimation in the context of self-driving. We leverage deep learning techniques as well as strong priors as in our application domain the motion of the scene can be composed by the motion of the robot and the 3D motion of the actors in the scene. We formulate the problem as energy minimization in a deep structured model, which can be solved efficiently in the GPU by unrolling a Gaussian-Newton solver. Our experiments in the challenging KITTI scene flow dataset show that we outperform the state-of-the-art by a very large margin, while being 800 times faster.

Key facts. Cited by 54 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Apr 2019.

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Citing papers per year: 2021: 16; 2022: 10; 2023: 12; 2024: 9; 2025: 5; 2026: 2.

54 papers.

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  1. 2024SpatialTracker: Tracking Any 2D Pixels in 3D Spacecited by 178
  2. 2021Neural Scene Flow Priorcited by 91
  3. 2024TAPVid-3D: A Benchmark for Tracking Any Point in 3Dcited by 69
  4. 2021Weakly Supervised Learning of Rigid 3D Scene Flowcited by 60
  5. 2021CamLiFlow: Bidirectional Camera-LiDAR Fusion for Joint Optical Flow and Scene Flow Estimationcited by 56
  6. 2021MultiBodySync: Multi-Body Segmentation and Motion Estimation via 3D Scan Synchronizationcited by 46
  7. 2021Learning to Segment Rigid Motions from Two Framescited by 45
  8. 2022IFOR: Iterative Flow Minimization for Robotic Object Rearrangementcited by 42
  9. 2021Tangent Space Backpropagation for 3D Transformation Groupscited by 40
  10. 2021Self-Point-Flow: Self-Supervised Scene Flow Estimation from Point Clouds with Optimal Transport and Random Walkcited by 39
  11. 2021HCRF-Flow: Scene Flow from Point Clouds with Continuous High-order CRFs and Position-aware Flow Embeddingcited by 36
  12. 2022What Matters for 3D Scene Flow Networkcited by 31
38 more
  1. 2021Self-Supervised Multi-Frame Monocular Scene Flowcited by 29
  2. 2022SCOOP: Self-Supervised Correspondence and Optimization-Based Scene Flowcited by 28
  3. 2022OcclusionFusion: Occlusion-aware Motion Estimation for Real-time Dynamic 3D Reconstructioncited by 27
  4. 2025Uni4D: Unifying Visual Foundation Models for 4D Modeling from a Single Videocited by 27
  5. 2021Temporally Consistent Online Depth Estimation in Dynamic Scenescited by 26
  6. 2023RPEFlow: Multimodal Fusion of RGB-PointCloud-Event for Joint Optical Flow and Scene Flow Estimationcited by 26
  7. 2021SCTN: Sparse Convolution-Transformer Network for Scene Flow Estimationcited by 23
  8. 2021Binary TTC: A Temporal Geofence for Autonomous Navigationcited by 20
  9. 2025Zero-Shot Monocular Scene Flow Estimation in the Wildcited by 20
  10. 2023Re-Evaluating LiDAR Scene Flow for Autonomous Drivingcited by 17
  11. 2024Bring Event into RGB and LiDAR: Hierarchical Visual-Motion Fusion for Scene Flowcited by 15
  12. 2022M-FUSE: Multi-frame Fusion for Scene Flow Estimationcited by 14
  13. 2023GMSF: Global Matching Scene Flowcited by 14
  14. 2023DELFlow: Dense Efficient Learning of Scene Flow for Large-Scale Point Cloudscited by 14
  15. 2025Object-centric 3D Motion Field for Robot Learning from Human Videoscited by 13
  16. 2023Multi-Body Neural Scene Flowcited by 12
  17. 2021Deep Feedback Inverse Problem Solvercited by 11
  18. 2023Learning Optical Flow and Scene Flow with Bidirectional Camera-LiDAR Fusioncited by 10
  19. 2023Recurrent Generic Contour-based Instance Segmentation with Progressive Learningcited by 9
  20. 2023Milestones in Autonomous Driving and Intelligent Vehicles Part II: Perception and Planningcited by 9
  21. 2022Unsupervised Learning of 3D Scene Flow from Monocular Cameracited by 7
  22. 2024Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Cloudscited by 7
  23. 2021Unsupervised Video Prediction from a Single Frame by Estimating 3D Dynamic Scene Structurecited by 6
  24. 2022SF2SE3: Clustering Scene Flow into SE(3)-Motions via Proposal and Selectioncited by 6
  25. 2024DiffSF: Diffusion Models for Scene Flow Estimationcited by 6
  26. 2023A Quadratic Synchronization Rule for Distributed Deep Learningcited by 5
  27. 2025DynamicVerse: A Physically-Aware Multimodal Framework for 4D World Modelingcited by 5
  28. 2023EMR-MSF: Self-Supervised Recurrent Monocular Scene Flow Exploiting Ego-Motion Rigiditycited by 4
  29. 2022Learning Scene Flow in 3D Point Clouds with Noisy Pseudo Labelscited by 3
  30. 2024Self-Supervised Multi-Frame Neural Scene Flowcited by 3
  31. 2021MonoPLFlowNet: Permutohedral Lattice FlowNet for Real-Scale 3D Scene FlowEstimation with Monocular Imagescited by 2
  32. 2022Unsupervised Learning of 3D Scene Flow with 3D Odometry Assistancecited by 2
  33. 2023Self-Supervised 3D Scene Flow Estimation and Motion Prediction using Local Rigidity Priorcited by 2
  34. 2024Segment Anything in Light Fields for Real-Time Applications via Constrained Promptingcited by 2
  35. 2025SplitGaussian: Reconstructing Dynamic Scenes via Visual Geometry Decompositioncited by 2
  36. 2022Depth Estimation from Single-shot Monocular Endoscope Image Using Image Domain Adaptation And Edge-Aware Depth Estimationcited by 1
  37. 2023Edge-aware Consistent Stereo Video Depth Estimationcited by 1
  38. 2024RMS-FlowNet++: Efficient and Robust Multi-Scale Scene Flow Estimation for Large-Scale Point Cloudscited by 1

50 most cited of 54 All 54 (JSON)