“…Auto Gain Control [67] Auto White Balance [68] Automatic Exposure Correction [69] Gradual Illumination Changes (TD) [1, 24, 38, 63, 70-73, 74, 75] Sudden Illumination Changes (LS) [24,61,63,65,67,68,70,71,[74][75][76][77][78][79][80][81] Bootstrapping during initialization (B) [59,82,83] Bootstrapping during running (B) [84 -88] Camouflage (C) [42,72,73,[88][89][90][91][92] Foreground Aperture (FA) [93] Moved background objects (MBO) [60, 63, 70, 74, 75, 80 ,85, 87, 88] Inserted background objects (IBO) [60,63,70,74,75,85,87,88] Multimodal background (MB) [ …”