Most of the current scene flow methods choose to model scene flow as a per point translation vector without differentiating between static and dynamic components of 3D motion. In this work we present an alternative method for end-to-end scene flow learning by joint estimation of non-rigid residual flow and ego-motion flow for dynamic 3D scenes. We propose to learn the relative rigid transformation from a pair of point clouds followed by an iterative refinement. We then learn the non-rigid flow f…