{"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/occlusion-guided-self-supervised-scene-flow","title":"Occlusion Guided Self-supervised Scene Flow Estimation on 3D Point Clouds","arxiv_id":"2104.04724","date":"2021-04-10","proceeding":null,"authors":["Bojun Ouyang","Dan Raviv"],"abstract":"Understanding the flow in 3D space of sparsely sampled points between two consecutive time frames is the core stone of modern geometric-driven systems such as VR/AR, Robotics, and Autonomous driving. The lack of real, non-simulated, labeled data for this task emphasizes the importance of self- or un-supervised deep architectures. This work presents a new self-supervised training method and an architecture for the 3D scene flow estimation under occlusions. Here we show that smart multi-layer fusion between flow prediction and occlusion detection outperforms traditional architectures by a large margin for occluded and non-occluded scenarios. We report state-of-the-art results on Flyingthings3D and KITTI datasets for both the supervised and self-supervised training.","url_abs":"https://arxiv.org/abs/2104.04724v2","url_pdf":"https://arxiv.org/pdf/2104.04724v2.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":"occlusion-guided-self-supervised-scene-flow","repo_url":"https://github.com/BillOuyang/3D-OGFlow","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"scene-flow-estimation","task_name":"Scene Flow Estimation"},{"task_slug":"self-supervised-scene-flow-estimation","task_name":"Self-supervised Scene Flow Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2104.04724","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}