Objects velocity estimation on images sequences by Hough transform with projection (HTP)

We propose to extend the Hough transform (HT) to 3D lines in a particular case: for each 3D point, we search for the line passing through this point and fitting the other points. The method uses projection of data on different planes and the combination of these results using least square algorithm. We call this algorithm "Hough transform with projection (HTP)". The robustness of this method, compared to the classical HT is displayed. We later use this algorithm to compute the speed of moving regions in images sequences, without any tracking.