Joint Scene Flow Estimation and Moving Object Segmentation on Rotational LiDAR Data

This repo contains the label generation code for our T-ITS paper: Joint Scene Flow Estimation and Moving Object Segmentation on Rotational LiDAR Data.

1. Installation

Prerequisites

• CUDA 11.3
• Python 3.8
• PyTorch 1.10
• easydict, scipy, sklearn, tqdm, yaml, open3d

2. Data Preprocess

To run our experiments on Semantic Kitti dataset, you need to preprocess the original dataset into our scene flow format. All related folders or files are put under utils/,

Running the preprocessing code using:

python utils/generate_gts.py --root_dir $ROOT_DIR$ --save_dir $SAVE_DIR$

Publication

If you use our implementation in your academic work, please cite the corresponding paper:

@article{chen2024tits,
	author = {Chen, Xieyuanli and Cui, Jiafeng and Liu, Yufei and Zhang, Xianjing and Sun, Jiadai and Ai, Rui and Gu, Weihao and Xu, Jintao and Lu, Huimin},
	title = {Joint Scene Flow Estimation and Moving Object Segmentation on Rotational LiDAR Data},
	booktitle = tits,
	year = {2024},
        volume={25},
        number={11},
        pages={17733-17743},
}