1. A method of detecting one or more motion models in video frames comprising: selecting a primary data item from data items in a data pool for a video frame, the data items defining a two-dimensional plane in a corresponding parameter space; mapping the plane onto a two-dimensional voting array in the corresponding parameter space; locating one or more intersections between the plane corresponding to each primary data item and one or more planes corresponding to other data items; and establishing a motion model corresponding to a location in the parameter space where the intersections substantially converge.