Sm. Smith et Jm. Brady, ASSET-2 - REAL-TIME MOTION SEGMENTATION AND SHAPE TRACKING, IEEE transactions on pattern analysis and machine intelligence, 17(8), 1995, pp. 814-820
This paper describes a system for detecting and tracking moving object
s in a moving world. The feature-based optic flow field is segmented i
nto clusters with affine internal motion which are tracked over time.
The system runs in real-time, and is accurate and reliable.