Motion Detection and

Estimation

INTRODUCTION
Motion detection - image points be
identified as moving or stationary
(surveillance)
Motion detection measure of how they
move
Motion segmentation - identification of
groups of image points moving similarly



motion detection
motion detection is formulated as hypothesis
testing, maximuma posteriori probability
(MAP) estimation, and variational problem
motion estimation is described in two parts.
models, estimation criteria, and search strategies
motion estimation algorithms


MOTION DETECTION
PRELIMINARIES & NOTATION
Let I :T R be the intensity of image
sequence defined over spatial domain
temporal domain T .
Let x (x1,x2)T and t T denote spatial
and temporal positions of a point in this
sequence
Let I (x, t ) denote a continuous-coordinate
representation of intensity at (x, t ), and let I
t

denote a complete image at time t .


NOTATIONS Cont
spatial pixel position x is approximated by
n = (n1,n2)
T
, whereas temporal position t is approximated
by t
k
or k.

I [n,k] denotes a discrete-coordinate representation of I (x,
t )
Motion in continuous images can be described by velocity
vector (1,2)T
(x) is a velocity at spatial position x,

t
will denote a velocity field or motion field, that is, the
set of all velocity vectors within the image, at time t .


MOTION DETECION
Binary Hypothesis Testing

Let y be an observation and let Y be the associated
random variable. Suppose that there are two hypotheses
H
0
andH
1
with corresponding probability distributions
P(Y= y|H
0
) and P(Y = y|H
1
)
The goal is to decide from which of the two distributions
a given y is more likely to have been drawn.
four possibilities exist (true hypothesis/decision): H
0
/H
0
,
H
0
/H
1
, H
1
/H
0
, and H
1
/H
1
.
Although H
0
/H
0
and H
1
/H
1
correspond to correct choices,
H
0
/H
1
and H
1
/ H
0
are erroneous.



Binary Hypothesis Testing
Under the Bayes criterion, two a priori probabilities
are assigned to the two
hypotheses H0 and H1, respectively
cost is assigned to each of the four scenarios listed
previously.
design a decision rule so that on average the
cost associated with making a decision based
on y is minimal.

Binary Hypothesis Testing
Assuming costs associated with erroneous decisions
are higher than those associated with the
corresponding correct decisions, optimal decision
can be made according to the following rule

(3.1)
The quantity on the left is called the likelihood ratio
and is a constant dependent on the costs of the
four scenarios.
If
0
and
1
are predetermined as well, the above
hypothesis test compares the likelihood ratio with a
fixed threshold.

MOTION DETECTION

to identify which image points, or, which
regions of the image moved.
motion of image points is not perceived
directly but through intensity changes.
intensity changes over time may be also
induced by camera noise or illumination
variations.


Hypothesis Testing with Fixed
Threshold

be an observation, upon which we intend to select one of the two hypotheses.

Hypothesis Testing with Fixed
Threshold

taking the natural logarithm of both sides of
(3.1) the hypothesis test can be written as
follows:

The above pixel-based hypothesis test is not robust to
noise in the image; for small noisy detection masks
result (many isolated small regions), whereas for large s
only object boundaries and its most textured parts are
detected.
To attenuate the impact of noise, the method can be
extended by averaging the observations over an N-point
spatial window W
n
centered at n:

Motion detection based on frame differences,
as described above, does not perform well for
large, untextured objects
Only pixels n where |I
k
[n]-I
k-1
[n]| is
sufficiently large can be reliably detected.
Such pixels concentrate in narrow areas close
to moving boundaries where object intensity
is distinct from the background in the previous
frame. This leads to excessive false negatives,

An intensity at location n in framek is deemed
stationary only if it is likely to have been drawn from
PS. This improves robustness of the detection to small
parasitic movements that are accounted for in PS.

since the PS model is based on K recent frames, it
adapts to slow background changes such as
illumination variations.

in order to avoid model contamination intensities
frommoving areas in previous frames need to be
excluded fromthe summation in (3.8),

Hypothesis Testing with Adaptive
Threshold