Independent Motion Detector Version:1.0.

+ Collaboration diagram for motionCUT:

Independent Motion Detector Version:1.0.

Carlo Ciliberto, Ugo Pattacini


The module exploits the pyramidal Lucas-Kanade algorithm to detect independent moving points over a selectable grid of nodes. The algorithm is designed in such a way that it works also - and especially - with moving cameras.

The name motionCUT stands for motion Cover/Uncover Trick and refers to its working principle that is detailed in the paper: Ciliberto C., Pattacini U., Natale L., Nori F. and Metta G., "Reexamining Lucas-Kanade Method for Real-Time Independent Motion Detection: Application to the iCub Humanoid Robot", IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, 2011.
If you're going to use the motionCUT for your work, please quote it within any resulting publication.
We warmly suggest to use OpenCV in conjunction with multi-threading layers such as TBB in order to achieve high performances for motion detection. Refer to the OpenCV documentation for the details.
A video on iCub employing motionCUT can be seen here.


Input Ports

Output Ports