A Compacted Structure for Cross-domain learning on Monocular Depth and Flow Estimation

摘要

Accurate motion and depth recovery is important for many robot vision tasks including autonomous driving. Most previous studies have achieved cooperative multi-task interaction via either pre-defined loss functions or cross-domain prediction. This paper presents a multi-task scheme that achieves mutual assistance by means of our Flow to Depth (F2D), Depth to Flow (D2F), and Exponential Moving Average (EMA). F2D and D2F mechanisms enable multi-scale information integration between optical flow and depth domain based on differentiable shallow nets. A dual-head mechanism is used to predict optical flow for rigid and non-rigid motion based on a divide-and-conquer manner, which significantly improves the optical flow estimation performance. Furthermore, to make the prediction more robust and stable, EMA is used for our multi-task training. Experimental results on KITTI datasets show that our multi-task scheme outperforms other multi-task schemes and provide marked improvements on the prediction results.