Closing the loop on multiple motions

We describe a number of advances in the analysis of road scenes when the scene contains multiple moving objects and is observed by a single non-steerable camera mounted on the front of a vehicle. Our structure from motion approach to scene segmentation derives from the observed motions of independently moving objects and requires no prior knowledge. We describe a hierarchy of camera models for the analysis of the scene, the simpler models handle degeneracies that occur in the more complex models. The major technical contribution is the recursive computation of feature clusters, which are fed forward over time. This closed-loop feature tracking generates extended feature trajectories which significantly improve the discriminating power of scene segmentation.