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ARTOD: Autonomous Real Time Objects Detection by a moving camera using recursive density estimation

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A new approach to autonomously detect moving objects in a video captured by a
moving camera is proposed in this chapter. The proposed method is separated in two modules.In the first part, the well-known scale invariant feature transformation (SIFT) and the RANSAC algorithm are used to estimate the camera movement. In the second part, recursive density estimation (RDE) is used to build a model of the background and detect moving objects in a scene. The results are presented for both indoor and outdoor video sequences taken from a UAV for outdoor scenario and handheld camera for indoor experiment.