ICP-Flow: LiDAR Scene Flow Estimation with ICP

arXiv:2402.17351v1 Announce Type: new
Abstract: Scene flow characterizes the 3D motion between two LiDAR scans captured by an autonomous vehicle at nearby timesteps. Prevalent methods consider scene flow as point-wise unconstrained flow vectors that can be learned by either large-scale training beforehand or time-consuming optimization at inference. However, these methods do not take into account that objects in autonomous driving often move rigidly. We incorporate this rigid-motion assumption into our design, where the goal is to associate objects over scans …

abstract arxiv autonomous autonomous vehicle cs.cv flow inference lidar optimization scale scans training type vectors wise