Moving object detection and camera motion analysis from moving camera

This paper describes an approach for the scene motion analysis in complex scenes from moving camera. Proposed method consists of two parts. First image of the sequence is used to compose a triangular grid which vertices are used as a feature points in further processing. Grid is optimized in order to increase number of elements in the regions with higher level of details. Description vector based on color and edge distribution associated with each vertex. These feature vectors are used to track vertices in a frame sequence. Grid is then updated in order by removing mismatched vertices. New vertices are added in grid segments with high level of details. A difference between vertices coordinates in consequent frames form vector field which is used for motion analysis. On the second step motion field is analyzed in order to find regions with similar motion vectors. These regions are then classified as a moving object of as a part of the background. Vertices corresponding to one moving object are tracked as a group preserving geometrical relationship between connected points.