“…A pixel is recognized as foreground when the difference between two successive frames is significant. The most popular algorithm, which was proposed by Stauffer and Grimson [45], is based on statistical background subtraction, which employs a combination of Gaussian models to observe the probability of detecting a background pixel, x , at time t , as follows:
where K is the number of distributions, which is normally set to [3, 5], ω i,t and μ i,t are the weighted and mean of the Gaussian distributions, respectively,
is the covariance matrix and η is the Gaussian probability density function. The Gaussian mixture is a stable real-time outdoor tracker and works well in various environments, such as variations in lighting, repetitive motion caused by clutter and long-term scene variation.…”