The active scene flow estimation technology aims at higher quality of scene flow data through actively changing the ego-vehicle’s trajectory as well as sensor observation position.
This repository includes:
- Scene flow dataset collection and anotation;
- A reliable reachable area detection strategy through hidden points removing (HPR) based scene prediction and a legality checking scheme between the ego-vehicle and the road as well as the predicted scene;
- Actively select the optimal observation position based scene similarity metirc between 2 frames point clouds;
- Scene flow estimation method. network based refinement;
- A briefing video for introducing this work in the media directory.
- Scene flow dataset (Demo)
- Passive Trajectory VS Active Trajectory (Demo)
If you use this code for academic research, you are highly encouraged to cite the following paper:
@article{wang2023active,
title={Active Scene Flow Estimation for Autonomous Driving via Real-Time Scene Prediction and Optimal Decision},
author={Wang, Shuaijun and Gao, Rui and Han, Ruihua and Chen, Jianjun and Zhao, Zirui and Lyu, Zhijun and Hao, Qi},
journal={IEEE Transactions on Intelligent Transportation Systems},
year={2023},
publisher={IEEE}
}