Patent ID: 7177445

Claim:
A method comprising the steps of: from a series of multiple images of multiple pixels, selecting a current image X; determining a reference image R of multiple pixels; for each pixel j of multiple pixels of the current image X, determining a scaled difference SDIFF j , where K ⁡ ( x j - v ji ) = 1 2 ⁢ π ⁢ ⁢ σ j ⁢ ⅇ - ( x j - v ji ) 2 / 2 ⁢ σ j 2 , X i is value of a property of pixel i of a region of M pixels around pixel j in the current image X, r i is the value of the property of a corresponding pixel i around a corresponding pixel j in the reference image R, D i is a noise factor depending on the sum of multiple differences between the value of die property of pixel i in different images or the reference image; determining whether a change in pixel j is due to a change in lighting or the movement of an object in the image depending on the value of SDIFF j .