Fast Kernel Scene Flow
arxiv(2024)
摘要
In contrast to current state-of-the-art methods, such as NSFP [25], which
employ deep implicit neural functions for modeling scene flow, we present a
novel approach that utilizes classical kernel representations. This
representation enables our approach to effectively handle dense lidar points
while demonstrating exceptional computational efficiency – compared to recent
deep approaches – achieved through the solution of a linear system. As a
runtime optimization-based method, our model exhibits impressive
generalizability across various out-of-distribution scenarios, achieving
competitive performance on large-scale lidar datasets. We propose a new
positional encoding-based kernel that demonstrates state-of-the-art performance
in efficient lidar scene flow estimation on large-scale point clouds. An
important highlight of our method is its near real-time performance ( 150-170
ms) with dense lidar data ( 8k-144k points), enabling a variety of practical
applications in robotics and autonomous driving scenarios.
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