A real-time image-to-panorama registration approach for background subtraction using pan-tilt-cameras

While for static cameras several background subtraction approaches have been developed in the past, for non-static pan/tilt cameras efficient and robust motion detection is still a challenging task. Known approaches use image-to-image registration methods to generate a panorama background model of the scene, which spans a joint pixel coordinate system for later background estimation and subtraction. However, for a real-time panorama-based background subtraction a highly efficient image-to-panorama registration is needed. For this purpose, in this paper a key-frame representation of the panorama image is proposed and a strategy for fast global homography estimation in large panorama images is presented.