20. The computer program product as set forth in claim 15 , wherein the first ego-translation and the second ego-translation are determined using an alternate line search method.
15. A computer program product for estimating ego-motion from video scenes, the computer program product comprising: computer-readable instructions stored on a non-transitory computer-readable medium that are executable by a computer having one or more processors for causing the processor to perform operations of: for consecutive frames in a video captured by a moving camera, determining a first ego-translation estimate between the consecutive frames from a first local minimum (h 0 ,v 0 ); determining a second ego-translation estimate from a second local minimum (h′ 0 ,v′ 0 ); if the second ego-translation estimate does not equal the first ego-translation estimate, determining an optimal solution by minimizing a cost function until the first ego-translation estimate and the second ego-translation estimate are a matching estimate; estimating ego-motion of the camera using the optimal solution; and detecting independent moving objects in the video after compensating for ego-motion of the camera.