Method and system for segmenting an image based on motion vanishing points

A method for segmenting an image acquired by a sensor of a scene, comprising steps of:

• obtaining motion vectors corresponding to the image of the scene;
• generating a motion vanishing point image, wherein each pixel in the motion vanishing point image represents a number of intersections of pairs of motion vectors at the pixel;
• determining, in the motion vanishing point image, a representation point for each motion vector;
• determining distances between the motion vectors based on the representation points;
• constructing a motion graph including nodes connected by edges, wherein each node represents a motion vector, and each edge represents a weight based on the distance between the nodes;
• performing graph spectral clustering on the motion graph to produce segments of the image;
• and
• outputting the segments, wherein the steps are performed in a processor.