A method for registration between first and second images, the method
including defining, for each individual location from among a plurality of
locations sparsely distributed over the first image, a local probability
matrix in which each element represents the probability of a possible
displacement between the individual location in the first image and its
corresponding location within the second image, defining a combined
probability matrix by combining corresponding elements over the plurality
of probability matrices, and computing an alignment of the first and
second images in accordance with a combination of at least one of the
largest of the elements of the combined probability matrix; and further, a
method for detecting motion within a scene including at least one moving
objects by comparing first and second time-separated images of the scene,
the method comprising defining, for each individual location from among a
plurality of locations distributed over the first image, a local
probability matrix in which each element represents the probability of a
possible displacement between said individual location in the first image,
representing an individual portion of the scene in the first image, and
its corresponding location within the second image, and ranking the local
probability matrices into a plurality of ranks of matrices, differing in
the probability that the individual location corresponding to a matrix
belonging to a rank was displaced between the first and second images,
relative to what is known regarding camera motion between the first and
second images.
