DifFlow3D: Toward Robust Uncertainty-Aware Scene Flow Estimation with Iterative Diffusion-Based Refinement

Figure 1. Comparison on challenging cases. DifFlow3D predicts uncertainty-aware scene flow with diffusion model, which has stronger robustness for: (a) dynamics, (b) noisy inputs, (c) small objects, and (d) repetitive patterns. Blue, green, red points respectively indicate the first frame P C1, accurately estimated P C2 (P C1 warped by estimated flow), and inaccurately estimated P C2.