Moving object segmentation and dynamic scene reconstruction using two frames

In this paper, a two-frame approach is presented for segmentation of independent moving objects in video along with estimation of ego-motion, independent object motion and reconstruction of the dynamic scene using intensity images. The proposed method utilizes the least median of squares in estimating ego-motion and parallax constraints for segmenting independently moving objects. A 3D structure for the static scene is also estimated using surface parallax. The motion of moving objects is estimated by first fitting a parametric flow model followed by subspace analysis. The algorithm works well for unconstrained translational motion of moving objects.