Passively accepting measurements of the world is not enough, as the data obtained is always incomplete, and the inferences made from it uncertain to a degree which is often unacceptable. Machines that operate autonomously will always be faced with this…

This thesis describes an algorithm for detecting moving objects in images taken from a moving robot. The algorithm distinguishes itself from other similar, existing solutions in that it lends itself to a fast implementation, yet provides results which are reliable…