Detection of rigid objects moving on 2D image by state space model

We express the multiple rigid objects with different movements in motion image employing the state space model, and detect it. The state vector has the following elements: 1) Velocity of each object, 2) The position of each feature points, and 3) The label attached to the object. The state estimated by using the property that the feature points belonging to the same rigid object moves identically. Here, it is assumed that the object moves in parallel with image plane, and each feature point moves at the velocity of each object label. The state estimation can determine the object to which each feature point belongs, and can smooth the orbit of each feature point.