Deep Rigid Instance Scene Flow
2019-04-18CVPR 2019Unverified0· sign in to hype
Wei-Chiu Ma, Shenlong Wang, Rui Hu, Yuwen Xiong, Raquel Urtasun
Unverified — Be the first to reproduce this paper.
ReproduceAbstract
In this paper we tackle the problem of scene flow estimation in the context of self-driving. We leverage deep learning techniques as well as strong priors as in our application domain the motion of the scene can be composed by the motion of the robot and the 3D motion of the actors in the scene. We formulate the problem as energy minimization in a deep structured model, which can be solved efficiently in the GPU by unrolling a Gaussian-Newton solver. Our experiments in the challenging KITTI scene flow dataset show that we outperform the state-of-the-art by a very large margin, while being 800 times faster.