Algorithm 1 Event Detection

DetectionResult$\leftarrow$false Obtain the size $n_m$ of model ${\mathit{M}}_{\mathit{k}}$ $Diff\leftarrow T^{*}{\left[{\mathit{M}}_{\mathit{k}} {\mathbf{1}}_{n_m}\right]}^T-{\mathit{D}}_{\mathit{k},\mathit{c}}{}^T$           //Difference between model and corresponding scene $E_{TF}\leftarrow 0$ for all indices i in Diff do  $E_{TF}\leftarrow E_{TF}+sqrt\left(Diff{\left(1, i\right)}^2+Diff{\left(2, i\right)}^2\right)$//Accumulated matching error calculation end for If $(n_m<n_{min}$ | $E_{TF}>E_{TF0})$ then  DetectionResult$\leftarrow$ true end if