Automatic Moving Object Segmentation for Freely Moving Cameras

Algorithm 1

Two-layer iteration based camera motion compensation.

Initialization: The background feature point set is

initialized as ;

Step  1. Inner-layer iteration, employs the RANSAC

algorithm to estimate the affine parameters based on the

current feature set ;

Step  2. Moving region detection, finds the moving

regions based on the current affine parameters;

Step  3. Update the background feature set according to

the detected moving regions;

Step  4. Jump to Step  1 to start a new outer-layer iteration

until it converges. That is, the feature points in are

stable.