A method for generating a predicted segmentation map for potential objects in a future scene depicted in a future image is described. The method includes receiving input images that depict a same scene; processing a current input image to generate a segmentation map for potential objects in the current input image and a respective depth map; generating a point cloud for the current input image; processing the input images to generate, for each pair of two input images in the sequence, a respective ego-motion output that characterizes motion of the camera between the two input images; processing the ego-motion outputs to generate a future ego-motion output; processing the point cloud of the current input image and the future ego-motion output to generate a future point cloud; and processing the future point cloud to generate the predicted segmentation map for potential objects in the future scene depicted in the future image.