A method of determining and displaying movement of an object in an environment using a moving camera includes identifying later environment features located in the environment in a later image, earlier environment features located in the environment in an earlier image, and earlier object features located on the object in the earlier image. The method further includes estimating object features in the later image using the earlier object features and a determined camera movement. The method further includes locating, in the later image, matched object features that are actual object features in the later image at a same location as the estimated object features. The method further includes determining that the object has moved between the earlier image and the later image if a number of matched object features does not exceed a threshold.