Fast robust method for compensating ego-translations and detecting independent moving objects in video captured with a moving camera

摘要

Described is a system for compensating ego-translations in video captured with a moving camera. Translative ego-motion is estimated on a sequence of image frames captured by a moving camera by minimizing a cost function that is based on at least one image frame difference between consecutive image frames. An alternating one directional search is performed to minimize the cost function to find an optimal translation. The optimal translation is applied to the sequence of image frames, resulting in a sequence of image frames with ego-translations.