  We propose a novel multi-task learning system that combines appearance and
motion cues for a better semantic reasoning of the environment. A unified
architecture for joint vehicle detection and motion segmentation is introduced.
In this architecture, a two-stream encoder is shared among both tasks. In order
to evaluate our method in autonomous driving setting, KITTI annotated sequences
with detection and odometry ground truth are used to automatically generate
static/dynamic annotations on the vehicles. This dataset is called KITTI Moving
Object Detection dataset (KITTI MOD). The dataset will be made publicly
available to act as a benchmark for the motion detection task. Our experiments
show that the proposed method outperforms state of the art methods that utilize
motion cue only with 21.5% in mAP on KITTI MOD. Our method performs on par with
the state of the art unsupervised methods on DAVIS benchmark for generic object
segmentation. One of our interesting conclusions is that joint training of
motion segmentation and vehicle detection benefits motion segmentation. Motion
segmentation has relatively fewer data, unlike the detection task. However, the
shared fusion encoder benefits from joint training to learn a generalized
representation. The proposed method runs in 120 ms per frame, which beats the
state of the art motion detection/segmentation in computational efficiency.

Computer Vision and Pattern Recognition;Robotics