Estimating the inter-frame motion of a free-moving camera is important for the reconstruction of large 3-D scene from one or more sequences of frames. This work focuses on scenes with a mixture of dynamic and static elements and proposes an approach to improve tracking in existing 3-D reconstruction algorithms, as well as provide a basis for new types of 3-D reconstructions that are able to construct scenes of moving objects. The main strategy adopted in this work is to group feature points within fixed block-size within the image then to prune groups whose motion deviates from the dominant motions established through majority voting. Our experiments show that the proposed approach performs well in several outdoor dynamic scenes, significantly outperforming typical feature-based and direct pose estimation techniques in footage with moving elements.
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