2207.08794.pdf

1. DualFlow is a novel representation of scene motion that decomposes optical flow into static and dynamic flow fields.
2. The static and dynamic flow fields are estimated by warping the current image to neighboring images.
3. DualFlow uses a dynamic mask to control the weights of the estimated static flow fields.
4. The residual of the optimized static flow fields is outputted by the DualFlow layer.
5. DualFlow is used in DeFlowSLAM, a self-supervised scene motion decomposition for dynamic dense SLAM.