Detecting and solving template ambiguities in motion segmentation

When the color or gray level of a moving object is very similar to that of the background, motion-based segmentation methods fail. This leads to ambiguous templates for the moving objects. We propose a method that segments unambiguously from motion the templates of the moving objects. Our method, which we call incremental motion segmentation integrates over time the small differences between the gray level of the moving object and that of the background. Our experiments with segmenting a robot soccer video clip show the quality of our results.