| 摘要 |
The invention relates to a method for the detection of moving objects in a video image sequence, comprising the steps a) determination of distinctive feature points in one image of a pair of consecutive images of the video image sequence, b) determination of a mathematical transformation for imaging one of the two images of the pair of images onto the other of the two images of the pair of images, using the distinctive feature points determined in step a), c) determination of a difference image as a difference between the images of the pair of images transformed onto one another by means of transformation determined in step b), d) Determination of distinctive image variation points in the difference image determined in step c), e) determination of object points from the distinctive image variation points determined in step d). According to one aspect of the invention, the robustness of the method with respect to disturbing influences is improved in that step d) comprises the following steps: d1) establishment of an image variation threshold value and determination of image variation points as those points in the difference image determined in step c) the absolute image brightness value of which exceeds the image variation threshold value, d2) analysis of the quality of the image variation points determined in step d1) based on at least one predetermined quality criterion, d3) if the quality criterion is met, establishment of the image variation points determined in step d1) as the distinctive image variation points determined in step d) otherwise repetition of steps d1) and d2) with an image variation threshold value established in a changed manner. |
