Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major limitations. In this paper, we explore the learnable occlusion aware optical flow guided self-supervised depth and camera pose estimation by an adaptive cross weighted loss to address the above limitations. Firstly, we explore to train the learnable occlusion mask fused optical flow network by an occlusion-aware photometric loss with the temporally supplemental information and backward-forward consistency of adjacent views. And then, we design an adaptive cross-weighted loss between the depth-pose and optical flow loss of the geometric and photometric error to distinguish the moving objects which violate the static scene assumption. Our method shows promising results on KITTI, Make3D, and Cityscapes datasets under multiple tasks. We also show good generalization ability under a variety of challenging scenarios.
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