1 Frame Difference with 4 ICM iterations. One Color for one tracked blob

• taxi of Hamburg: detected motion and masks
• Car3 from University IPEN: detected motion, bounding rectangle and masks
• rue from INPG-LIS: detected motion, bounding rectangle and masks
• mobile from INPG-LIS: detected motion and masks
• crois from INPG-LIS: detected motion, bounding rectangle and masks

in collaboration with Ghiles Mostafaoui, Catherine Achard and Maurice Milgram from PARC a color version has been introduced where RGB channels are combined through an hysteresis filter

• Pets 2002: detection and weak tracking (17.9 MB) robust tracking (180 MB)

From the basic version to the most improved version

• the original Sigma-Delta algorithm is from Antoine Manzanera, ENSTA
• a real time modified Sigma-Delta algorithms has been designed at IEF
• new more robusts versions of algorithms are currently designed at ENSTA and IEF (ICIP 2009)
• algorithms have been implemented on RISC and accelerated with SSE2 and Altivec SIMD extensions
• algorithms have been implemented on Cell and GPU to compare raw performances of the architectures

hall sequence results (ICIP 2009)

• original Sigma-Delta: contours and contour + morphological post-processing
• conditional Sigma-Delta: contours and contour + morphological post-processing
• Zipfian Sigma-Delta: contours and contour + morphological post-processing
• conditional Zipfian Sigma-Delta: contour + morphological post-processing


• hierarchical conditional Sigma-Delta: contour + morphological post-processing
• hierarchical conditional Zipfian Sigma-Delta: contour + morphological post-processing


• RAE: contours and contour + morphological post-processing
• RA2: contours and contour + morphological post-processing

High Speed Sequences (120 images / seconde)

• Le Guichet #1 original sequence and result (hierarchical conditional Zipfian Sigma-Delta)
• Palaiseau #1 original sequence and result (hierarchical conditional Zipfian Sigma-Delta)

• car3: 320 x 240 x 200 images = 15.6 MB -> car3.rar (9.3 MB) car3.zip (11.6 MB)
• hall: 352 x 240 x 300 images = 27.2 MB -> hall.rar (17.0 MB) hall.zip (19.3 MB)

• ICIP 2009 "Motion Detection: Fast and robust algorithms for embedded systems", L. Lacassagne, A. Manzanera, A. Dupret. IEEE International Conference on Image Processing, 2009, pp. 3265-3268.
• JRTIP Journal of Real Time Image Processing ’08 "High Performance Motion Detection: Some trends toward new embedded architectures for vision systems" L. Lacassagne, A. Manzanera, J. Denoulet, A. Mérigot.
• ICIP 2007 "Adaptative multiresoluition for low power CMOS image sensor", A. Verdant, P. Villard, A. Dupret, H. Mathias, L. Lacassagne, IEEE ICIP International Conference on Image Processing
• CAMP 2005 "Implementating Motion Markov Detection on General Purpose Processor and Associative Mesh", J. Denoulet, G.Mostafaoui, L.Lacassagne, A. Mérigot, IEEE Camp 2005, 4-6 Juillet 2005, Palerme, Italy
• ISIVC 2004 "Relaxation markovienne et seuillage par hystérésis pour une détection de mouvement temps réel dans des sequences d'images", G. Mostafaoui, T. Kunlin, L. Lacassagne", International Symposium on Image/Video Communications over fixed and mobile networks.