A Hough transform based hierarchical algorithm for motion segmentation and estimation

The authors face the problem of motion segmentation (into regions satisfying a parametric motion constraint) performed in parallel with estimation of motion parameters. Particular attention is attached to the presence of several independently moving objects registered from a non-stationary sensor; the complex motion model; and the parallel segmentation and estimation; speed of the method. The principles of the algorithm presented are similar to those of Wu (1990) with a number of modifications which include multiresolution in image space with coarse-to-fine resolution object tracking, a new rule for searching the minima in Hough space, and an improved segmentation algorithm. Experimental results confirm that these result in an improved, more robust convergence and better accuracy