“…Furthermore, only the best N points (80 in our experiments), those exhibiting the highest corner strengths, are considered for the subsequent tracking process. Next, HOG [13] is used to describe the local area around each detected point, and the Histogram Intersection (HI) [14] is used for feature comparison. The output of this stage is a set of pairs (p,u), where p represents a key-point and u its associated motion vector, from which we build the proposed set of features.…”