Robust estimation of multi-component motion in image sequences using the epipolar constraint

Given two frames of a dynamic scene with several rigid body objects undergoing different motions in the three-dimensional space, we robustly estimate the motion and structure of each object. The least median of squares (LMedS) estimator is integrated into a robust 3D motion parameter estimation and scene structure recovery framework to deal with the multi-motion problem. Experimental results underline the capability of the approach to deal successfully with multi-component motion. We apply the approach presented in this paper to the problem of automatic insertion of artificial objects in real image sequences