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The detection of moving objects is important in many tasks. Previous approaches to this problem can be broadly divided into two classes: 2D algorithms which apply when the scene can be approximated by a flat surface and/or when the camera is only undergoing rotations and zooms, and 3D algorithms which work well only when significant depth variations are present in the scene and the camera is translating. In this paper, we describe a unified approach to handling moving-object detection in bothdoi:10.1109/34.683770 fatcat:xkk2hurllverzmgomxnczahb3q