A Conditional Adversarial Network for Scene Flow Estimation The problem of Scene flow estimation in depth videos has been attracting attention of researchers of machine vision, due to its potential application in various areas of robotics. The conventional scene flow estimation methods are difficult to use in realtime applications due to their long computational overhead. We propose a conditional adversarial network SceneFlowGAN for scene flow estimation. The proposed SceneFlowGAN uses loss function at two ends: both the generator and the discriminator. The proposed network is a first attempt to estimate scene flow using generative adversarial networks, and is able to estimate both the optical flow and disparity from the input stereo images simultaneously. The proposed method is experimented on a huge RGBD benchmark sceneflow estimation dataset.

Learning Residual Flow as Dynamic Motion from Stereo Videos We present a method for decomposing the 3D scene flow observed from a moving stereo rig into stationary scene elements and dynamic object motion. Our unsupervised learning framework jointly reasons about the camera motion, optical flow, and 3D motion of moving objects. Three cooperating networks predict stereo matching, camera motion, and residual flow, which represents the flow component due to object motion and not from camera motion. Based on rigid projective geometry, the estimated stereo depth is used to guide the camera motion estimation, and the depth and camera motion are used to guide the residual flow estimation. We also explicitly estimate the 3D scene flow of dynamic objects based on the residual flow and scene depth. Experiments on the KITTI dataset demonstrate the effectiveness of our approach and show that our method outperforms other stateoftheart algorithms on the optical flow and visual odometry tasks.