Patent ID: 8923558

Claim:
A method for detecting objects that are moving with respect to the ground from a pair of stereo rectified images, the method comprising; in a motion detection engine: provided with a pair of stereo rectified images in which two images are taken by one sensor on a moving aircraft at different times, the sensor at time P 1 and the sensor at time P 2 oriented perpendicular to a stereo baseline and parallel to each other, for each feature in one of the stereo rectified images, associating a subject feature with the same feature in the other stereo rectified image forming a feature association; for each feature association, forming a feature motion track following a subject feature association from one of the stereo rectified images to the other stereo rectified image, the feature motion track indicative of motion of an associated feature; and differentiating feature motion tracks from other feature motion tracks that are in the pair of stereo rectified images and that are parallel to the stereo baseline, the feature motion tracks being differentiated representing detected objects moving with respect to the ground.