Watching the wheels
http://www.dra.hmg. gb/ImageProcessing/ smsmith/dra/ group_home.html
By analyzing how digitized image sequences evolve over time, it is possible to estimate the motion of moving obstacles and the three-dimensional (3-D) structure that surrounds them. Developed by Steven Smith of the UK Defence Research Agency (DRA), this site details Asset-2--a real-time motion segmentation system-and Altruism-a 3-D reconstruction and interpretation package. From this site, other image-processing research at the DRA can be accessed as well as source code for a feature detection package called Susan.