{"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/scoop-self-supervised-correspondence-and","title":"SCOOP: Self-Supervised Correspondence and Optimization-Based Scene Flow","arxiv_id":"2211.14020","date":"2022-11-25","proceeding":"CVPR 2023 1","authors":["Itai Lang","Dror Aiger","Forrester Cole","Shai Avidan","Michael Rubinstein"],"abstract":"Scene flow estimation is a long-standing problem in computer vision, where the goal is to find the 3D motion of a scene from its consecutive observations. Recently, there have been efforts to compute the scene flow from 3D point clouds. A common approach is to train a regression model that consumes source and target point clouds and outputs the per-point translation vector. An alternative is to learn point matches between the point clouds concurrently with regressing a refinement of the initial correspondence flow. In both cases, the learning task is very challenging since the flow regression is done in the free 3D space, and a typical solution is to resort to a large annotated synthetic dataset. We introduce SCOOP, a new method for scene flow estimation that can be learned on a small amount of data without employing ground-truth flow supervision. In contrast to previous work, we train a pure correspondence model focused on learning point feature representation and initialize the flow as the difference between a source point and its softly corresponding target point. Then, in the run-time phase, we directly optimize a flow refinement component with a self-supervised objective, which leads to a coherent and accurate flow field between the point clouds. Experiments on widespread datasets demonstrate the performance gains achieved by our method compared to existing leading techniques while using a fraction of the training data. Our code is publicly available at https://github.com/itailang/SCOOP.","url_abs":"https://arxiv.org/abs/2211.14020v2","url_pdf":"https://arxiv.org/pdf/2211.14020v2.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":"scoop-self-supervised-correspondence-and","repo_url":"https://github.com/itailang/scoop","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok","spdx":"NOASSERTION"}}],"tasks":[{"task_slug":"scene-flow-estimation","task_name":"Scene Flow Estimation"},{"task_slug":"regression-1","task_name":"regression"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2211.14020","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}