{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/flow4d-leveraging-4d-voxel-network-for-lidar","title":"Flow4D: Leveraging 4D Voxel Network for LiDAR Scene Flow Estimation","arxiv_id":"2407.07995","date":"2024-07-10","proceeding":null,"authors":["Jaeyeul Kim","Jungwan Woo","Ukcheol Shin","Jean Oh","Sunghoon Im"],"abstract":"Understanding the motion states of the surrounding environment is critical for safe autonomous driving. These motion states can be accurately derived from scene flow, which captures the three-dimensional motion field of points. Existing LiDAR scene flow methods extract spatial features from each point cloud and then fuse them channel-wise, resulting in the implicit extraction of spatio-temporal features. Furthermore, they utilize 2D Bird's Eye View and process only two frames, missing crucial spatial information along the Z-axis and the broader temporal context, leading to suboptimal performance. To address these limitations, we propose Flow4D, which temporally fuses multiple point clouds after the 3D intra-voxel feature encoder, enabling more explicit extraction of spatio-temporal features through a 4D voxel network. However, while using 4D convolution improves performance, it significantly increases the computational load. For further efficiency, we introduce the Spatio-Temporal Decomposition Block (STDB), which combines 3D and 1D convolutions instead of using heavy 4D convolution. In addition, Flow4D further improves performance by using five frames to take advantage of richer temporal information. As a result, the proposed method achieves a 45.9% higher performance compared to the state-of-the-art while running in real-time, and won 1st place in the 2024 Argoverse 2 Scene Flow Challenge. The code is available at https://github.com/dgist-cvlab/Flow4D.","url_abs":"https://arxiv.org/abs/2407.07995v1","url_pdf":"https://arxiv.org/pdf/2407.07995v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"flow4d-leveraging-4d-voxel-network-for-lidar","repo_url":"https://github.com/dgist-cvlab/flow4d","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"BSD-3-Clause"}}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"scene-flow-estimation","task_name":"Scene Flow Estimation"}],"methods":[{"method_slug":"convolution","method_name":"Convolution"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2407.07995","atlas_url":"https://app.syntology.ai/?focus=2407.07995","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2407.07995"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/dgist-cvlab/flow4d","reach":{"status":"ok","spdx":"BSD-3-Clause"}}],"summary":{"ran_draft_wrong":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"fb89b701924ed8c6","entry":"replace_feature","repo":"dgist-cvlab/flow4d","repo_kind":"official","path":"flow4D.py","file_url":"https://github.com/dgist-cvlab/flow4d/blob/HEAD/flow4D.py","link_basis":"harvester_set","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"MISDECLARED","metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"BSD-3-Clause","inline_ok":true,"mcp_get_code":{"code_sha256":"fb89b701924ed8c6"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}