The Defense Advanced Research Projects Agency ( DARPA ) started the research and development of automated visual surveillance and monitoring (VSAM) program, between 1997 and 1999, and airborne video surveillance (AVS) programs, from 1998 to 2002. Currently, there is a major effort underway in the vision community to develop a fully automated tracking surveillance system. Automated video surveillance monitors people and vehicles in real time within a busy environment. Existing automated surveillance systems are based on the environment they are primarily designed to observe, ., indoor, outdoor or airborne, the amount of sensors that the automated system can handle and the mobility of sensor, ., stationary camera vs. mobile camera. The purpose of a surveillance system is to record properties and trajectories of objects in a given area, generate warnings or notify designated authority in case of occurrence of particular events.