Supplemental Material for Video Segmentation with Background Motion Models

Algorithm 1 gives the procedure used to optimize the background motion model as described in Section 4. GetWeights computes the residuals from the given model Hk and uses Equation 3 to compute the weight for each track in T . Similarly, GetCost computes the total cost (Equation 4). Finally, WLS uses a weighted-least-squares variant of the four-point algorithm to re-estimate each homography Hk i in the model using the computed weights.