diff --git a/doc/filters.texi b/doc/filters.texi
index 60c899490a..856d8ae6ac 100644
--- a/doc/filters.texi
+++ b/doc/filters.texi
@@ -13247,6 +13247,21 @@ copied from first stream.
 By default value 0xf, all planes will be processed.
 @end table
 
+@section maskedthreshold
+Pick pixels comparing absolute difference of two video streams with fixed threshold.
+
+This filter accepts the following options:
+@table @option
+@item threshold
+Set threshold used when picking pixels from absolute difference from two input
+video streams.
+
+@item planes
+Set which planes will be processed as bitmap, unprocessed planes will be
+copied from second stream.
+By default value 0xf, all planes will be processed.
+@end table
+
 @section maskfun
 Create mask from input video.
 
diff --git a/libavfilter/Makefile b/libavfilter/Makefile
index b54e6cd374..e1205eb063 100644
--- a/libavfilter/Makefile
+++ b/libavfilter/Makefile
@@ -302,6 +302,7 @@ OBJS-$(CONFIG_MASKEDCLAMP_FILTER)            += vf_maskedclamp.o framesync.o
 OBJS-$(CONFIG_MASKEDMAX_FILTER)              += vf_maskedminmax.o framesync.o
 OBJS-$(CONFIG_MASKEDMERGE_FILTER)            += vf_maskedmerge.o framesync.o
 OBJS-$(CONFIG_MASKEDMIN_FILTER)              += vf_maskedminmax.o framesync.o
+OBJS-$(CONFIG_MASKEDTHRESHOLD_FILTER)        += vf_maskedthreshold.o framesync.o
 OBJS-$(CONFIG_MASKFUN_FILTER)                += vf_maskfun.o
 OBJS-$(CONFIG_MCDEINT_FILTER)                += vf_mcdeint.o
 OBJS-$(CONFIG_MEDIAN_FILTER)                 += vf_median.o
diff --git a/libavfilter/allfilters.c b/libavfilter/allfilters.c
index 5842196118..6354375e91 100644
--- a/libavfilter/allfilters.c
+++ b/libavfilter/allfilters.c
@@ -287,6 +287,7 @@ extern AVFilter ff_vf_maskedclamp;
 extern AVFilter ff_vf_maskedmax;
 extern AVFilter ff_vf_maskedmerge;
 extern AVFilter ff_vf_maskedmin;
+extern AVFilter ff_vf_maskedthreshold;
 extern AVFilter ff_vf_maskfun;
 extern AVFilter ff_vf_mcdeint;
 extern AVFilter ff_vf_median;
diff --git a/libavfilter/vf_maskedthreshold.c b/libavfilter/vf_maskedthreshold.c
new file mode 100644
index 0000000000..d925819f6a
--- /dev/null
+++ b/libavfilter/vf_maskedthreshold.c
@@ -0,0 +1,298 @@
+/*
+ * Copyright (c) 2020 Paul B Mahol
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#include "libavutil/imgutils.h"
+#include "libavutil/pixdesc.h"
+#include "libavutil/opt.h"
+#include "avfilter.h"
+#include "formats.h"
+#include "internal.h"
+#include "video.h"
+#include "framesync.h"
+
+typedef struct MaskedThresholdContext {
+    const AVClass *class;
+
+    int threshold;
+    int planes;
+
+    int linesize[4];
+    int planewidth[4], planeheight[4];
+    int nb_planes;
+    int depth;
+    FFFrameSync fs;
+
+    void (*maskedthreshold)(const uint8_t *src, const uint8_t *ref, uint8_t *dst, int threshold, int w);
+} MaskedThresholdContext;
+
+#define OFFSET(x) offsetof(MaskedThresholdContext, x)
+#define FLAGS AV_OPT_FLAG_FILTERING_PARAM|AV_OPT_FLAG_VIDEO_PARAM
+
+typedef struct ThreadData {
+    AVFrame *src, *ref, *dst;
+} ThreadData;
+
+static const AVOption maskedthreshold_options[] = {
+    { "threshold", "set threshold", OFFSET(threshold), AV_OPT_TYPE_INT, {.i64=1},   0, UINT16_MAX, FLAGS },
+    { "planes",    "set planes",    OFFSET(planes),    AV_OPT_TYPE_INT, {.i64=0xF}, 0, 0xF,        FLAGS },
+    { NULL }
+};
+
+static int query_formats(AVFilterContext *ctx)
+{
+    static const enum AVPixelFormat pix_fmts[] = {
+        AV_PIX_FMT_YUVA444P, AV_PIX_FMT_YUV444P, AV_PIX_FMT_YUV440P,
+        AV_PIX_FMT_YUVJ444P, AV_PIX_FMT_YUVJ440P,
+        AV_PIX_FMT_YUVA422P, AV_PIX_FMT_YUV422P, AV_PIX_FMT_YUVA420P, AV_PIX_FMT_YUV420P,
+        AV_PIX_FMT_YUVJ422P, AV_PIX_FMT_YUVJ420P,
+        AV_PIX_FMT_YUVJ411P, AV_PIX_FMT_YUV411P, AV_PIX_FMT_YUV410P,
+        AV_PIX_FMT_YUV420P9, AV_PIX_FMT_YUV422P9, AV_PIX_FMT_YUV444P9,
+        AV_PIX_FMT_YUV420P10, AV_PIX_FMT_YUV422P10, AV_PIX_FMT_YUV444P10,
+        AV_PIX_FMT_YUV420P12, AV_PIX_FMT_YUV422P12, AV_PIX_FMT_YUV444P12, AV_PIX_FMT_YUV440P12,
+        AV_PIX_FMT_YUV420P14, AV_PIX_FMT_YUV422P14, AV_PIX_FMT_YUV444P14,
+        AV_PIX_FMT_YUV420P16, AV_PIX_FMT_YUV422P16, AV_PIX_FMT_YUV444P16,
+        AV_PIX_FMT_YUVA420P9, AV_PIX_FMT_YUVA422P9, AV_PIX_FMT_YUVA444P9,
+        AV_PIX_FMT_YUVA420P10, AV_PIX_FMT_YUVA422P10, AV_PIX_FMT_YUVA444P10,
+        AV_PIX_FMT_YUVA422P12, AV_PIX_FMT_YUVA444P12,
+        AV_PIX_FMT_YUVA420P16, AV_PIX_FMT_YUVA422P16, AV_PIX_FMT_YUVA444P16,
+        AV_PIX_FMT_GBRP, AV_PIX_FMT_GBRP9, AV_PIX_FMT_GBRP10,
+        AV_PIX_FMT_GBRP12, AV_PIX_FMT_GBRP14, AV_PIX_FMT_GBRP16,
+        AV_PIX_FMT_GBRAP, AV_PIX_FMT_GBRAP10, AV_PIX_FMT_GBRAP12, AV_PIX_FMT_GBRAP16,
+        AV_PIX_FMT_GRAY8, AV_PIX_FMT_GRAY9, AV_PIX_FMT_GRAY10, AV_PIX_FMT_GRAY12, AV_PIX_FMT_GRAY14, AV_PIX_FMT_GRAY16,
+        AV_PIX_FMT_NONE
+    };
+
+    return ff_set_common_formats(ctx, ff_make_format_list(pix_fmts));
+}
+
+static void threshold8(const uint8_t *src, const uint8_t *ref, uint8_t *dst, int threshold, int w)
+{
+    for (int x = 0; x < w; x++)
+        dst[x] = FFABS(src[x] - ref[x]) <= threshold ? src[x] : ref[x];
+}
+
+static void threshold16(const uint8_t *ssrc, const uint8_t *rref, uint8_t *ddst, int threshold, int w)
+{
+    const uint16_t *src = (const uint16_t *)ssrc;
+    const uint16_t *ref = (const uint16_t *)rref;
+    uint16_t *dst = (uint16_t *)ddst;
+
+    for (int x = 0; x < w; x++)
+        dst[x] = FFABS(src[x] - ref[x]) <= threshold ? src[x] : ref[x];
+}
+
+static int config_input(AVFilterLink *inlink)
+{
+    AVFilterContext *ctx = inlink->dst;
+    MaskedThresholdContext *s = ctx->priv;
+    const AVPixFmtDescriptor *desc = av_pix_fmt_desc_get(inlink->format);
+    int vsub, hsub, ret;
+
+    s->nb_planes = av_pix_fmt_count_planes(inlink->format);
+
+    if ((ret = av_image_fill_linesizes(s->linesize, inlink->format, inlink->w)) < 0)
+        return ret;
+
+    hsub = desc->log2_chroma_w;
+    vsub = desc->log2_chroma_h;
+    s->planeheight[1] = s->planeheight[2] = AV_CEIL_RSHIFT(inlink->h, vsub);
+    s->planeheight[0] = s->planeheight[3] = inlink->h;
+    s->planewidth[1]  = s->planewidth[2]  = AV_CEIL_RSHIFT(inlink->w, hsub);
+    s->planewidth[0]  = s->planewidth[3]  = inlink->w;
+
+    s->depth = desc->comp[0].depth;
+
+    if (desc->comp[0].depth == 8)
+        s->maskedthreshold = threshold8;
+    else
+        s->maskedthreshold = threshold16;
+
+    return 0;
+}
+
+static int threshold_slice(AVFilterContext *ctx, void *arg, int jobnr, int nb_jobs)
+{
+    MaskedThresholdContext *s = ctx->priv;
+    const int threshold = s->threshold;
+    ThreadData *td = arg;
+
+    for (int p = 0; p < s->nb_planes; p++) {
+        const ptrdiff_t src_linesize = td->src->linesize[p];
+        const ptrdiff_t ref_linesize = td->ref->linesize[p];
+        const ptrdiff_t dst_linesize = td->dst->linesize[p];
+        const int w = s->planewidth[p];
+        const int h = s->planeheight[p];
+        const int slice_start = (h * jobnr) / nb_jobs;
+        const int slice_end = (h * (jobnr+1)) / nb_jobs;
+        const uint8_t *src = td->src->data[p] + slice_start * src_linesize;
+        const uint8_t *ref = td->ref->data[p] + slice_start * ref_linesize;
+        uint8_t *dst = td->dst->data[p] + slice_start * dst_linesize;
+
+        if (!((1 << p) & s->planes)) {
+            av_image_copy_plane(dst, dst_linesize, ref, ref_linesize,
+                                s->linesize[p], slice_end - slice_start);
+            continue;
+        }
+
+        for (int y = slice_start; y < slice_end; y++) {
+            s->maskedthreshold(src, ref, dst, threshold, w);
+
+            dst += dst_linesize;
+            src += src_linesize;
+            ref += ref_linesize;
+        }
+    }
+
+    return 0;
+}
+
+static int process_frame(FFFrameSync *fs)
+{
+    AVFilterContext *ctx = fs->parent;
+    MaskedThresholdContext *s = fs->opaque;
+    AVFilterLink *outlink = ctx->outputs[0];
+    AVFrame *out, *src, *ref;
+    int ret;
+
+    if ((ret = ff_framesync_get_frame(&s->fs, 0, &src, 0)) < 0 ||
+        (ret = ff_framesync_get_frame(&s->fs, 1, &ref, 0)) < 0)
+        return ret;
+
+    if (ctx->is_disabled) {
+        out = av_frame_clone(src);
+        if (!out)
+            return AVERROR(ENOMEM);
+    } else {
+        ThreadData td;
+
+        out = ff_get_video_buffer(outlink, outlink->w, outlink->h);
+        if (!out)
+            return AVERROR(ENOMEM);
+        av_frame_copy_props(out, src);
+
+        td.src = src;
+        td.ref = ref;
+        td.dst = out;
+
+        ctx->internal->execute(ctx, threshold_slice, &td, NULL, FFMIN(s->planeheight[2],
+                                                                ff_filter_get_nb_threads(ctx)));
+    }
+    out->pts = av_rescale_q(s->fs.pts, s->fs.time_base, outlink->time_base);
+
+    return ff_filter_frame(outlink, out);
+}
+
+static int config_output(AVFilterLink *outlink)
+{
+    AVFilterContext *ctx = outlink->src;
+    MaskedThresholdContext *s = ctx->priv;
+    AVFilterLink *source = ctx->inputs[0];
+    AVFilterLink *ref = ctx->inputs[1];
+    FFFrameSyncIn *in;
+    int ret;
+
+    if (source->format != ref->format) {
+        av_log(ctx, AV_LOG_ERROR, "inputs must be of same pixel format\n");
+        return AVERROR(EINVAL);
+    }
+    if (source->w != ref->w || source->h != ref->h) {
+        av_log(ctx, AV_LOG_ERROR, "First input link %s parameters "
+               "(size %dx%d) do not match the corresponding "
+               "second input link %s parameters (%dx%d)\n",
+               ctx->input_pads[0].name, source->w, source->h,
+               ctx->input_pads[1].name, ref->w, ref->h);
+        return AVERROR(EINVAL);
+    }
+
+    outlink->w = source->w;
+    outlink->h = source->h;
+    outlink->sample_aspect_ratio = source->sample_aspect_ratio;
+    outlink->frame_rate = source->frame_rate;
+
+    if ((ret = ff_framesync_init(&s->fs, ctx, 2)) < 0)
+        return ret;
+
+    in = s->fs.in;
+    in[0].time_base = source->time_base;
+    in[1].time_base = ref->time_base;
+    in[0].sync   = 1;
+    in[0].before = EXT_STOP;
+    in[0].after  = EXT_INFINITY;
+    in[1].sync   = 1;
+    in[1].before = EXT_STOP;
+    in[1].after  = EXT_INFINITY;
+    s->fs.opaque   = s;
+    s->fs.on_event = process_frame;
+
+    ret = ff_framesync_configure(&s->fs);
+    outlink->time_base = s->fs.time_base;
+
+    return ret;
+}
+
+static int activate(AVFilterContext *ctx)
+{
+    MaskedThresholdContext *s = ctx->priv;
+    return ff_framesync_activate(&s->fs);
+}
+
+static av_cold void uninit(AVFilterContext *ctx)
+{
+    MaskedThresholdContext *s = ctx->priv;
+
+    ff_framesync_uninit(&s->fs);
+}
+
+static const AVFilterPad maskedthreshold_inputs[] = {
+    {
+        .name         = "source",
+        .type         = AVMEDIA_TYPE_VIDEO,
+        .config_props = config_input,
+    },
+    {
+        .name         = "reference",
+        .type         = AVMEDIA_TYPE_VIDEO,
+    },
+    { NULL }
+};
+
+static const AVFilterPad maskedthreshold_outputs[] = {
+    {
+        .name          = "default",
+        .type          = AVMEDIA_TYPE_VIDEO,
+        .config_props  = config_output,
+    },
+    { NULL }
+};
+
+AVFILTER_DEFINE_CLASS(maskedthreshold);
+
+AVFilter ff_vf_maskedthreshold = {
+    .name          = "maskedthreshold",
+    .description   = NULL_IF_CONFIG_SMALL("Pick pixels comparing absolute difference of two streams with threshold."),
+    .priv_class    = &maskedthreshold_class,
+    .priv_size     = sizeof(MaskedThresholdContext),
+    .uninit        = uninit,
+    .activate      = activate,
+    .query_formats = query_formats,
+    .inputs        = maskedthreshold_inputs,
+    .outputs       = maskedthreshold_outputs,
+    .flags         = AVFILTER_FLAG_SUPPORT_TIMELINE_INTERNAL | AVFILTER_FLAG_SLICE_THREADS,
+};
