  Existing optical flow methods are erroneous in challenging scenes, such as
fog, rain, and night because the basic optical flow assumptions such as
brightness and gradient constancy are broken. To address this problem, we
present an unsupervised learning approach that fuses gyroscope into optical
flow learning. Specifically, we first convert gyroscope readings into motion
fields named gyro field. Then, we design a self-guided fusion module to fuse
the background motion extracted from the gyro field with the optical flow and
guide the network to focus on motion details. To the best of our knowledge,
this is the first deep learning-based framework that fuses gyroscope data and
image content for optical flow learning. To validate our method, we propose a
new dataset that covers regular and challenging scenes. Experiments show that
our method outperforms the state-of-art methods in both regular and challenging
scenes.
