Methods, systems and computer readable media for implementing a soft data association modeled with probabilities. The association probabilities are computed in an intertwined EM scheme with the optical flow computation that maximizes the expectation (marginalization) over all associations. In addition, longer tracks can be enabled by computing the affine deformation with respect to the initial point and use the resulting residual as a measure of persistence. The computed optical flow enables a varying temporal integration different for every feature and sized inversely proportional to the length of the flow. The results can be seen in egomotion and very fast vehicle sequences.
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