ASSET-2: real-time motion segmentation and shape tracking
This paper describes how image sequences taken by a moving video camera may be processed to detect and track moving objects against a moving background in real-time. The motion segmentation and shape tracking system is known as ASSET-2 - A Scene Segmenter Establishing Tracking, Version 2. Motion is found by tracking image features, and segmentation is based on first-order (i.e., six parameter) flow fields. Shape tracking is performed using two dimensional radial map representation. The system runs in real-time, and is accurate and reliable. It requires no camera calibration and no knowledge of the camera's motion.