{"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/ssf-sparse-long-range-scene-flow-for","title":"SSF: Sparse Long-Range Scene Flow for Autonomous Driving","arxiv_id":"2501.17821","date":"2025-01-29","proceeding":null,"authors":["Ajinkya Khoche","Qingwen Zhang","Laura Pereira Sanchez","Aron Asefaw","Sina Sharif Mansouri","Patric Jensfelt"],"abstract":"Scene flow enables an understanding of the motion characteristics of the environment in the 3D world. It gains particular significance in the long-range, where object-based perception methods might fail due to sparse observations far away. Although significant advancements have been made in scene flow pipelines to handle large-scale point clouds, a gap remains in scalability with respect to long-range. We attribute this limitation to the common design choice of using dense feature grids, which scale quadratically with range. In this paper, we propose Sparse Scene Flow (SSF), a general pipeline for long-range scene flow, adopting a sparse convolution based backbone for feature extraction. This approach introduces a new challenge: a mismatch in size and ordering of sparse feature maps between time-sequential point scans. To address this, we propose a sparse feature fusion scheme, that augments the feature maps with virtual voxels at missing locations. Additionally, we propose a range-wise metric that implicitly gives greater importance to faraway points. Our method, SSF, achieves state-of-the-art results on the Argoverse2 dataset, demonstrating strong performance in long-range scene flow estimation. Our code will be released at https://github.com/KTH-RPL/SSF.git.","url_abs":"https://arxiv.org/abs/2501.17821v1","url_pdf":"https://arxiv.org/pdf/2501.17821v1.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":"ssf-sparse-long-range-scene-flow-for","repo_url":"https://github.com/kth-rpl/ssf","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"attribute","task_name":"Attribute"},{"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":{"atlas_url":"https://app.syntology.ai/?focus=2501.17821","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2501.17821"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+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/kth-rpl/ssf","reach":null}],"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":"641c9d1daa3689f3","entry":"precheck_cfg_valid","repo":"kth-rpl/ssf","repo_kind":"official","path":"1_train.py","file_url":"https://github.com/kth-rpl/ssf/blob/HEAD/1_train.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"BSD-3-Clause","inline_ok":true,"mcp_get_code":{"code_sha256":"641c9d1daa3689f3"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}