SCENE FLOW ESTIMATION FROM POINT CLOUDS WITH CONTRASTIVE LOSS AND DUAL PSEUDO LABELS

Scene flow estimation aims to extract the 3D motion vector between each surface point in two consecutive point clouds. Pseudo-label-based approaches usually exploit point-to-point relations and 3D geometry information to generate the pseudo label for self-supervised learning. However, unreasonable results are still obtained due to the unexploited information of negative samples. Moreover, previous approaches are limited by the fact that pseudo labels are only generated along the forward direction, ignoring the backward direction that has strong spatiotemporal correlations with the forward direction. In this paper, we address these issues in a simple yet effective manner. Specifically, we introduce a contrastive loss to exploit both the information of positive samples and negative samples. Furthermore, we design a dual pseudo labels generation strategy to provide a bidirectional self-supervision for scene flow estimation. Experiments on FlyingThings3D and KITTI datasets show that our method can achieve competitive performance compared to recent self-supervised methods.