Background and foreground modeling using nonparametric kernel density estimation for visual surveillance

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Background Subtraction for Freely Moving Cameras (2009, methodology): “in [34], Kalman Filters for updating pixel colors in [16] and [14], Gaussian mixture models in [27], non-parametric kernel density estimates by Elgammal and Davis in [2], and the joint spatial-color model by Sheikh and Shah in [26].”