Skip to main content
Top
Published in:
Cover of the book

2014 | OriginalPaper | Chapter

Background Subtraction: Theory and Practice

Author : Ahmed Elgammal

Published in: Wide Area Surveillance

Publisher: Springer Berlin Heidelberg

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

Background subtraction is a widely-used concept utilized to detect moving objects in videos taken from a static camera. In the last two decades, several algorithms have been developed for background subtraction and were used in various important applications such as visual surveillance, sports video analysis, motion capture, etc. Various statistical approaches have been proposed to model scene backgrounds. In this chapter we review the concept and the practice in background subtraction. We discuss several basic statistical background subtraction models, including parametric Gaussian models and nonparametric models. We discuss the issue of shadow suppression, which is essential for human motion analysis applications. We also discuss approaches and tradeoffs for background maintenance. We also point out many of the recent developments in the background subtraction paradigm.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Footnotes
1
This is analogous to the transformation used to obtain CIE xy chromaticity space from CIE XYZ color space. The CIE XYZ color space is a linear transformation to the RGB space [1]. The chromaticity space defined by the variable r,g is therefore analogous to the CIE xy chromaticity space.
 
Literature
1.
go back to reference Burger, W., Burge, M.: Digital Image Processing, an Algorithmic Introduction Using Java. Springer, New York (2008)CrossRef Burger, W., Burge, M.: Digital Image Processing, an Algorithmic Introduction Using Java. Springer, New York (2008)CrossRef
2.
go back to reference Cheng, Y.: Mean shift, mode seeking, and clustering. IEEE Trans. Pattern Anal. Mach. Intell. 17(8), 790–799 (1995)CrossRef Cheng, Y.: Mean shift, mode seeking, and clustering. IEEE Trans. Pattern Anal. Mach. Intell. 17(8), 790–799 (1995)CrossRef
3.
go back to reference Comaniciu, D.: Nonparametric robust methods for computer vision. Ph.D. thesis, Rutgers, The State University of New Jersey (2000) Comaniciu, D.: Nonparametric robust methods for computer vision. Ph.D. thesis, Rutgers, The State University of New Jersey (2000)
4.
go back to reference Comaniciu, D., Meer, P.: Mean shift analysis and applications. In: IEEE 7th International Conference on Computer Vision, vol. 2, pp. 1197–1203, 1999 Comaniciu, D., Meer, P.: Mean shift analysis and applications. In: IEEE 7th International Conference on Computer Vision, vol. 2, pp. 1197–1203, 1999
5.
go back to reference Cucchiara, R., Grana, C., Piccardi, M., Prati, A.: Detecting moving objects, ghosts, and shadows in video streams. IEEE Trans. Pattern Anal. Mach. Intell. 25, 1337–1342 (2003)CrossRef Cucchiara, R., Grana, C., Piccardi, M., Prati, A.: Detecting moving objects, ghosts, and shadows in video streams. IEEE Trans. Pattern Anal. Mach. Intell. 25, 1337–1342 (2003)CrossRef
6.
go back to reference Dalal, N., Triggs, B.: Histograms of oriented gradients for human detection. In: CVPR, 2005 Dalal, N., Triggs, B.: Histograms of oriented gradients for human detection. In: CVPR, 2005
7.
go back to reference Dempster, A., Laird, N., Rubin, D.: Maximum likelihood from incomplete data via the em algorithm. J. Royal Stat. Soc. 39, 1–38 (1977)MathSciNetMATH Dempster, A., Laird, N., Rubin, D.: Maximum likelihood from incomplete data via the em algorithm. J. Royal Stat. Soc. 39, 1–38 (1977)MathSciNetMATH
8.
go back to reference Donohoe, G.W., Hush, D.R., Ahmed, N.: Change detection for target detection and classification in video sequences. In: ICASSP, 1988 Donohoe, G.W., Hush, D.R., Ahmed, N.: Change detection for target detection and classification in video sequences. In: ICASSP, 1988
9.
go back to reference Duda, R.O., Stork, D.G., Hart, P.E.: Pattern Classification. Wiley, New York (2000) Duda, R.O., Stork, D.G., Hart, P.E.: Pattern Classification. Wiley, New York (2000)
10.
go back to reference Eghbali, H.J.: K-s test for detecting changes from landsat imagery data. SMC 9(1), 17–23 (1979) Eghbali, H.J.: K-s test for detecting changes from landsat imagery data. SMC 9(1), 17–23 (1979)
11.
go back to reference Elgammal, A.: Efficient kernel density estimation for realtime computer vision. Ph.D. thesis, University of Maryland, 2002 Elgammal, A.: Efficient kernel density estimation for realtime computer vision. Ph.D. thesis, University of Maryland, 2002
12.
go back to reference Elgammal, A., Harwood, D., Davis, L.S.: Nonparametric background model for background subtraction. In: Proceedings of 6th European Conference of Computer Vision, 2000 Elgammal, A., Harwood, D., Davis, L.S.: Nonparametric background model for background subtraction. In: Proceedings of 6th European Conference of Computer Vision, 2000
13.
go back to reference Elgammal, A., Duraiswami, R., Davis, L.S.: Efficient non-parametric adaptive color modeling using fast gauss transform. In: Proceedings of IEEE Conference on Computer Vision and Pattern Recognition, 2001 Elgammal, A., Duraiswami, R., Davis, L.S.: Efficient non-parametric adaptive color modeling using fast gauss transform. In: Proceedings of IEEE Conference on Computer Vision and Pattern Recognition, 2001
14.
go back to reference Elgammal, A., Duraiswami, R., Harwood, D., Davis, L.S.: Background and foreground modeling using non-parametric kernel density estimation for visual surveillance. In: Proceedings of the IEEE, 2002 Elgammal, A., Duraiswami, R., Harwood, D., Davis, L.S.: Background and foreground modeling using non-parametric kernel density estimation for visual surveillance. In: Proceedings of the IEEE, 2002
15.
go back to reference Forsyth, D.A., Ponce, J.: Computer Vision a Modern Approach. Prentice Hall, Upper Saddle River (2002) Forsyth, D.A., Ponce, J.: Computer Vision a Modern Approach. Prentice Hall, Upper Saddle River (2002)
16.
go back to reference Friedman, N., Russell, S.: Image segmentation in video sequences: a probabilistic approach. In: Uncertainty in Artificial Intelligence, 1997 Friedman, N., Russell, S.: Image segmentation in video sequences: a probabilistic approach. In: Uncertainty in Artificial Intelligence, 1997
17.
go back to reference Fukunaga, K., Hostetler, L.D.: The estimation of the gradient of a density function, with application in pattern recognition. IEEE Trans. Inf. Theory 21, 32–40 (1975)MathSciNetCrossRefMATH Fukunaga, K., Hostetler, L.D.: The estimation of the gradient of a density function, with application in pattern recognition. IEEE Trans. Inf. Theory 21, 32–40 (1975)MathSciNetCrossRefMATH
18.
go back to reference Gao, X., Boult, T.E.: Error analysis of background adaption. In: IEEE Conference on Computer Vision and Pattern Recognition, 2000 Gao, X., Boult, T.E.: Error analysis of background adaption. In: IEEE Conference on Computer Vision and Pattern Recognition, 2000
19.
go back to reference Grimson, W.E.L., Stauffer, C., Romano, R.: Using adaptive tracking to classify and monitor activities in a site. In: IEEE Conference on Computer Vision and Pattern Recognition, 1998 Grimson, W.E.L., Stauffer, C., Romano, R.: Using adaptive tracking to classify and monitor activities in a site. In: IEEE Conference on Computer Vision and Pattern Recognition, 1998
20.
go back to reference Hall, E.L.: Computer Image Processing and Recognition. Academic Press, New York (1979) Hall, E.L.: Computer Image Processing and Recognition. Academic Press, New York (1979)
21.
go back to reference Han, B., Comaniciu, D., Davis, L.: Sequential kernel density approximation through mode propagation: applications to background modeling. In: Proceedings of ACCV 2004, 2004 Han, B., Comaniciu, D., Davis, L.: Sequential kernel density approximation through mode propagation: applications to background modeling. In: Proceedings of ACCV 2004, 2004
22.
go back to reference Haritaoglu, I., Harwood, D., Davis, L.S.: W4: who? when? where? what? a real time system for detecting and tracking people. In: International Conference on Face and Gesture Recognition, 1998 Haritaoglu, I., Harwood, D., Davis, L.S.: W4: who? when? where? what? a real time system for detecting and tracking people. In: International Conference on Face and Gesture Recognition, 1998
23.
go back to reference Harville, M.: A framework for high-level feedback to adaptive, per-pixel, mixture-of-gaussian background models. In: ECCV, pp. 543–560, 2002 Harville, M.: A framework for high-level feedback to adaptive, per-pixel, mixture-of-gaussian background models. In: ECCV, pp. 543–560, 2002
24.
go back to reference Hayman, E., Eklundh, J.O.: Statistical background subtraction for a mobile observer. In: Proceedings ICCV, pp. 67–74, 2003 Hayman, E., Eklundh, J.O.: Statistical background subtraction for a mobile observer. In: Proceedings ICCV, pp. 67–74, 2003
25.
go back to reference Horprasert, T., Harwood, D., Davis, L.S.: A statistical approach for real-time robust background subtraction and shadow detection. In: IEEE Frame-Rate Applications Workshop, 1999 Horprasert, T., Harwood, D., Davis, L.S.: A statistical approach for real-time robust background subtraction and shadow detection. In: IEEE Frame-Rate Applications Workshop, 1999
26.
go back to reference Hsu, Y.Z., Nagel, H.H., Rekers, G.: New likelihood test methods for change detection in image sequences. Comput. Vis. Image Process. 26, 73–106 (1984)CrossRef Hsu, Y.Z., Nagel, H.H., Rekers, G.: New likelihood test methods for change detection in image sequences. Comput. Vis. Image Process. 26, 73–106 (1984)CrossRef
27.
go back to reference Huerta, I., Holte, M., Moeslund, T., Gonzalez, J.: Detection and removal of chromatic moving shadows in surveillance scenarios. In: ICCV’09, pp. 1499–1506, 2009 Huerta, I., Holte, M., Moeslund, T., Gonzalez, J.: Detection and removal of chromatic moving shadows in surveillance scenarios. In: ICCV’09, pp. 1499–1506, 2009
28.
go back to reference Jabri, S., Duric, Z., Wechsler, H., Rosenfeld, A.: Detection and location of people in video images using adaptive fusion of color and edge information. In: International Conference of Pattern Recognition, 2000 Jabri, S., Duric, Z., Wechsler, H., Rosenfeld, A.: Detection and location of people in video images using adaptive fusion of color and edge information. In: International Conference of Pattern Recognition, 2000
29.
go back to reference Jain, R.C., Nagel, H.H.: On the analysis of accumulative difference pictures from image sequences of real world scenes. PAMI 1(2), 206–213 (1979)CrossRef Jain, R.C., Nagel, H.H.: On the analysis of accumulative difference pictures from image sequences of real world scenes. PAMI 1(2), 206–213 (1979)CrossRef
30.
go back to reference Javed, O., Shafique, K., Shah, M.: A hierarchical approach to robust background subtraction using color and gradient information. In: IEEE Workshop on Motion and Video Computing, pp. 22–27, 2002 Javed, O., Shafique, K., Shah, M.: A hierarchical approach to robust background subtraction using color and gradient information. In: IEEE Workshop on Motion and Video Computing, pp. 22–27, 2002
31.
go back to reference Jin, Y.X., Tao, L.M., Di, H., Rao, N.I., Xu, G.Y.: Background modeling from a free-moving camera by multi-layer homography algorithm. In: ICIP, pp. 1572–1575, 2008 Jin, Y.X., Tao, L.M., Di, H., Rao, N.I., Xu, G.Y.: Background modeling from a free-moving camera by multi-layer homography algorithm. In: ICIP, pp. 1572–1575, 2008
32.
go back to reference Karmann, K.-P., von Brandt, A.: Moving object recognition using and adaptive background memory. In: Time-Varying Image Processing and Moving Object Recognition. Elsevier Science Publishers B.V., Amsterdam (1990) Karmann, K.-P., von Brandt, A.: Moving object recognition using and adaptive background memory. In: Time-Varying Image Processing and Moving Object Recognition. Elsevier Science Publishers B.V., Amsterdam (1990)
33.
go back to reference Karmann, K.-P., Brandt, A.V., Gerl, R.: Moving object segmentation based on adabtive reference images. In: Signal Processing V: Theories and Application. Elsevier Science Publishers B.V., Amsterdam (1990) Karmann, K.-P., Brandt, A.V., Gerl, R.: Moving object segmentation based on adabtive reference images. In: Signal Processing V: Theories and Application. Elsevier Science Publishers B.V., Amsterdam (1990)
34.
go back to reference Kim, K., Chalidabhongse, T.H., Harwood, D., Davis, L.: Background modeling and subtraction by codebook construction. In: International Conference on Image Processing, pp. 3061–3064, 2004 Kim, K., Chalidabhongse, T.H., Harwood, D., Davis, L.: Background modeling and subtraction by codebook construction. In: International Conference on Image Processing, pp. 3061–3064, 2004
35.
go back to reference Kim, K., Harwood, D., Davis, L.S.: Background updating for visual surveillance. In: Proceedings of the International Symposium on Visual Computing, pp. 1–337, 2005 Kim, K., Harwood, D., Davis, L.S.: Background updating for visual surveillance. In: Proceedings of the International Symposium on Visual Computing, pp. 1–337, 2005
36.
go back to reference Koller, D., Weber, J., Huang, T., Malik, J., Ogasawara, G., Rao, B., Russell, S.: Towards robust automatic traffic scene analyis in real-time. In: International Conference of Pattern Recognition, 1994 Koller, D., Weber, J., Huang, T., Malik, J., Ogasawara, G., Rao, B., Russell, S.: Towards robust automatic traffic scene analyis in real-time. In: International Conference of Pattern Recognition, 1994
37.
go back to reference Levine, M.D.: Vision in Man and Machine. McGraw-Hill Book Company, New York (1985) Levine, M.D.: Vision in Man and Machine. McGraw-Hill Book Company, New York (1985)
38.
go back to reference Maddalena, L., Petrosino, A.: A self-organizing approach to background subtraction for visual surveillance applications. IEEE Trans. Image Process. 17(7), 1168–1177 (2008)MathSciNetCrossRef Maddalena, L., Petrosino, A.: A self-organizing approach to background subtraction for visual surveillance applications. IEEE Trans. Image Process. 17(7), 1168–1177 (2008)MathSciNetCrossRef
39.
go back to reference Matsuyama, T., Ohya, T., Habe, H.: Background subtraction for nonstationary scenes. In: 4th Asian Conference on Computer Vision, 2000 Matsuyama, T., Ohya, T., Habe, H.: Background subtraction for nonstationary scenes. In: 4th Asian Conference on Computer Vision, 2000
40.
go back to reference Mckenna, S.J., Sumer, J., Zoran, D., Harry, W., Azriel, R.: Tracking groups of people. Comput. Vis. Image Underst. 80, 42–56 (2000)CrossRefMATH Mckenna, S.J., Sumer, J., Zoran, D., Harry, W., Azriel, R.: Tracking groups of people. Comput. Vis. Image Underst. 80, 42–56 (2000)CrossRefMATH
41.
go back to reference Mittal, A., Huttenlocher, D.: Scene modeling for wide area surveillance and image synthesis. In: CVPR, 2000 Mittal, A., Huttenlocher, D.: Scene modeling for wide area surveillance and image synthesis. In: CVPR, 2000
42.
go back to reference Mittal, A., Paragios, N.: Motion-based background subtraction using adaptive kernel density estimation. In: CVPR, pp. 302–309, 2004 Mittal, A., Paragios, N.: Motion-based background subtraction using adaptive kernel density estimation. In: CVPR, pp. 302–309, 2004
43.
go back to reference Neal, R.M., Hinton, G.E.: A new view of the em algorithm that justifies incremental and other variants. In: Learning in Graphical Models, pp. 355–368. Kluwer Academic Publishers, Dordrecht (1993) Neal, R.M., Hinton, G.E.: A new view of the em algorithm that justifies incremental and other variants. In: Learning in Graphical Models, pp. 355–368. Kluwer Academic Publishers, Dordrecht (1993)
44.
go back to reference Parag, T., Elgammal, A., Mittal, A.: A framework for feature selection for background subtraction. In: Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR06, June 2006 Parag, T., Elgammal, A., Mittal, A.: A framework for feature selection for background subtraction. In: Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR06, June 2006
45.
go back to reference Patwardhan, K., Sapiro, G., Morellas, V.: Robust foreground detection in video using pixel layers. IEEE Trans. Pattern Anal. Mach. Intell. 30, 746–751 (2008)CrossRef Patwardhan, K., Sapiro, G., Morellas, V.: Robust foreground detection in video using pixel layers. IEEE Trans. Pattern Anal. Mach. Intell. 30, 746–751 (2008)CrossRef
46.
go back to reference Piccardi M., Jan T, (2004) Mean-shift background image modelling. ICIP 5, 3399–3402 Piccardi M., Jan T, (2004) Mean-shift background image modelling. ICIP 5, 3399–3402
47.
go back to reference Rittscher, J., Kato, J., Joga, S., Blake, A.: A probabilistic background model for tracking. In: 6th European Conference on Computer Vision, 2000 Rittscher, J., Kato, J., Joga, S., Blake, A.: A probabilistic background model for tracking. In: 6th European Conference on Computer Vision, 2000
48.
go back to reference Scott, D.W.: Mulivariate Density Estimation. Wiley-Interscience, Hoboken (1992)CrossRef Scott, D.W.: Mulivariate Density Estimation. Wiley-Interscience, Hoboken (1992)CrossRef
49.
go back to reference Sheikh, Y., Shah, M.: Bayesian modeling of dynamic scenes for object detection. PAMI 27, 1778–1792 (2005)CrossRef Sheikh, Y., Shah, M.: Bayesian modeling of dynamic scenes for object detection. PAMI 27, 1778–1792 (2005)CrossRef
50.
go back to reference Sheikh, Y., Javed, O., Kanade, T.: Background subtraction for freely moving cameras. In: ICCV, pp. 1219–1225, 2009 Sheikh, Y., Javed, O., Kanade, T.: Background subtraction for freely moving cameras. In: ICCV, pp. 1219–1225, 2009
51.
go back to reference Simon, R., Andrew, B.: Statistical mosaics for tracking. Image Vis. Comput. 14(8), 549–564 (1996)CrossRef Simon, R., Andrew, B.: Statistical mosaics for tracking. Image Vis. Comput. 14(8), 549–564 (1996)CrossRef
52.
go back to reference Soatto, S., Doretto, G., Wu, Y.: Dynamic textures. In: Proceedings of the International Conference on Computer Vision, vol. 2, pp. 439–446, 2001 Soatto, S., Doretto, G., Wu, Y.: Dynamic textures. In: Proceedings of the International Conference on Computer Vision, vol. 2, pp. 439–446, 2001
53.
go back to reference Stauder, J., Mech, R., Ostermann, J.: Detection of moving cast shadows for object segmentation. IEEE Trans. Multimedia 1, 65–76 (1999)CrossRef Stauder, J., Mech, R., Ostermann, J.: Detection of moving cast shadows for object segmentation. IEEE Trans. Multimedia 1, 65–76 (1999)CrossRef
54.
go back to reference Stauffer, C., Grimson, W.E.L.: Adaptive background mixture models for real-time tracking. In: IEEE Conference on Computer Vision and Pattern Recognition, 1999 Stauffer, C., Grimson, W.E.L.: Adaptive background mixture models for real-time tracking. In: IEEE Conference on Computer Vision and Pattern Recognition, 1999
55.
go back to reference Stenger, B., Ramesh, V., Paragios, N., Coetzee, F., Bouhman, J.: Topology free hidden markov models: application to background modeling. In: IEEE International Conference on Computer Vision, 2001 Stenger, B., Ramesh, V., Paragios, N., Coetzee, F., Bouhman, J.: Topology free hidden markov models: application to background modeling. In: IEEE International Conference on Computer Vision, 2001
56.
go back to reference Tomasi, C.: Shape and motion from image streams under orthography: a factorization method. Int. J. Comput. Vis. 9, 137–154 (1992)CrossRef Tomasi, C.: Shape and motion from image streams under orthography: a factorization method. Int. J. Comput. Vis. 9, 137–154 (1992)CrossRef
57.
go back to reference Toyama, K., Krumm, J., Brumitt, B., Meyers, B.: Wallflower: principles and practice of background maintenance. In: IEEE International Conference on Computer Vision, 1999 Toyama, K., Krumm, J., Brumitt, B., Meyers, B.: Wallflower: principles and practice of background maintenance. In: IEEE International Conference on Computer Vision, 1999
58.
go back to reference Wada, T., Matsuyama, T.: Appearance sphere: background model for pan-tilt-zoom camera. In: 13th International Conference on Pattern Recognition, 1996 Wada, T., Matsuyama, T.: Appearance sphere: background model for pan-tilt-zoom camera. In: 13th International Conference on Pattern Recognition, 1996
59.
go back to reference Wern, C.R., Azarbayejani, A., Darrell, T., Pentland, A.P.: Pfinder: real-time tracking of human body. In: IEEE Transaction on Pattern Analysis and Machine Intelligence, 1997 Wern, C.R., Azarbayejani, A., Darrell, T., Pentland, A.P.: Pfinder: real-time tracking of human body. In: IEEE Transaction on Pattern Analysis and Machine Intelligence, 1997
60.
go back to reference Yang, Y.-.H., Levine, M.D.: The background primal sketch: an approach for tracking moving objects. Mach. Vis. Appl. 5, 17–34 (1992)CrossRef Yang, Y.-.H., Levine, M.D.: The background primal sketch: an approach for tracking moving objects. Mach. Vis. Appl. 5, 17–34 (1992)CrossRef
61.
go back to reference Zappella, L., Lladó, X., Salvi, J.: Motion segmentation: a review. In: Proceeding of the 2008 Conference on Artificial Intelligence Research and Development, pp. 398–407. IOS Press, Amsterdam (2008) Zappella, L., Lladó, X., Salvi, J.: Motion segmentation: a review. In: Proceeding of the 2008 Conference on Artificial Intelligence Research and Development, pp. 398–407. IOS Press, Amsterdam (2008)
62.
go back to reference Zhang, W., Fang, X.Z., Yang, X.: Moving cast shadows detection based on ratio edge. In: International Conference on Pattern Recognition (ICPR), 2006 Zhang, W., Fang, X.Z., Yang, X.: Moving cast shadows detection based on ratio edge. In: International Conference on Pattern Recognition (ICPR), 2006
63.
go back to reference Zhong, J., Sclaroff, S.: Segmenting foreground objects from a dynamic textured background via a robust kalman filter. In: ICCV ’03: Proceedings of the Ninth IEEE International Conference on Computer Vision, p. 44. IEEE Computer Society, Washington (2003) Zhong, J., Sclaroff, S.: Segmenting foreground objects from a dynamic textured background via a robust kalman filter. In: ICCV ’03: Proceedings of the Ninth IEEE International Conference on Computer Vision, p. 44. IEEE Computer Society, Washington (2003)
Metadata
Title
Background Subtraction: Theory and Practice
Author
Ahmed Elgammal
Copyright Year
2014
Publisher
Springer Berlin Heidelberg
DOI
https://doi.org/10.1007/8612_2012_1