Segmenting independently moving, noisy points

There has been much work on using point features tracked through a video sequence to determine structure and motion. In many situations, to use this work, we must first isolate subsets of points that share a common motion. This is hard because we must distinguish between independent motions and apparent deviations from a single motion due to noise. We propose several methods of searching for point-sets with consistent 3D motions. We analyze the potential sensitivity of each method for detecting independent motions, and experiment with each method on a real image sequence