...derivatives.

ASSET-2 has been written and tested using both the SUSAN two dimensional feature detector and the Harris ``corner'' detector. This is because the Harris detector is available in real-time hardware, and it is desirable that ASSET-2 should be able to work well with either these features or the SUSAN ones. Only SUSAN edges have been used.

...world.

Obviously, the objects so found may be physically connected but have a spatial discontinuity between them, resulting in separate motion models. It is not currently within the scope of this project to attempt to ``link'' such objects together.

...static

Note; in this context static does not necessarily mean static in the image, but static with respect to the world, which the camera may be moving through.

LaTeX2HTML conversion by Steve Smith (steve@fmrib.ox.ac.uk)