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nikolausmayer avatar nikolausmayer commented on June 2, 2024

There is no explicit shadow treatment in FlowNet2 — every behavior is data-driven. The network has enough capacity to learn something about shadows from the available KITTI groundtruth during finetuning (after pretraining on a larger dataset to learn general flow features).
FlowNet2 has a relatively large receptive field, so it can "analyze" the area around the car and shadow and make decisions based on that.
Classical methods, especially purely local ones like Lucas-Kanade, do not learn correlations between appearance and flow. Consequently, they can never distinguish a black object from a black shadow. A neural network can learn that if black blobs and objects often appear together, then a black blob could be a shadow.

from flownet2.

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