Thc hicrarchically structured motion segmentation methods based on mapping parametric models are introduced. Experimental results on part of the algorithm with MATLAB language are shown. The methods utilize the spatio-temporal image intensity gradients and motion information to estimate the 3-D motion and structure parameters. An area to be segmented is defined by a set of uniform motion and position parameters denoted as mapping parameters, Change detection, mapping parameter estimation, moving objects and background detection are used to implement image motion segmentation.

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