Radar Doppler velocities, clustered under rigidity assumptions, can be propagated to LiDAR as pseudo scene flow labels, outperforming self-supervised baselines on TruckScenes and improving label efficiency.
nuscenes: A multimodal dataset for autonomous driving,
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DoGFlow: Self-Supervised LiDAR Scene Flow via Cross-Modal Doppler Guidance
Radar Doppler velocities, clustered under rigidity assumptions, can be propagated to LiDAR as pseudo scene flow labels, outperforming self-supervised baselines on TruckScenes and improving label efficiency.