METHOD FOR CAMERA MOTION ESTIMATION WITH PRESENCE OF MOVING OBJECT

The present invention provides a method of processing sequence of image frames captured through an imaging device. The method comprises extracting feature points from a current frame of the sequence of the image frames; estimating disparity of the feature points; identifying an object from the current frame that occupies a large area of the current frame through the disparity of the feature points; matching feature points between the current image frame and a previous image frame to determine presence of a moving object; filtering out the matched feature points that correspond to the moving object to obtain matched feature points that correspond to background; estimating motion model based on the feature points that correspond to the background.