Robust detection of moving objects by a moving observer on planar surfaces

We introduce a technique for detecting moving objects from an image sequence obtained with a moving camera using the planarity constraint. To increase the robustness of this technique, false motion caused by inaccuracies in sensor readings is eliminated by use of a morphological filter. This involves two successive operations-erosion and dilation-performed on a motion compensated image. Experimental results with real images are presented. Applications to the compression of moving images are now being investigated.