3D Sceneflownet: Self-Supervised 3D Scene Flow Estimation Based On Graph Cnn

Despite deep learning approaches have achieved promising successes in 2D optical flow estimation, it is a challenge to accurately estimate scene flow in 3D space as point clouds are inherently lacking topological information. In this paper, we aim at handling the problem of self-supervised 3D scene flow estimation based on dynamic graph convolutional neural networks (GCNNs), namely 3D SceneFlowNet. To better learn geometric relationships among points, we introduce EdgeConv to learn multiple-level features in a pyramid from point clouds and a self-attention mechanism to apply the multi-level features to predict the final scene flow. Our trained model can efficiently process a pair of adjacent point clouds as input and predict a 3D scene flow accurately without any supervision. The proposed approach achieves superior performance on both synthetic ModelNet40 dataset and real LiDAR scans from KITTI Scene Flow 2015 datasets.