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Improved Background-Foreground Segmentation Methods
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This algorithm combines statistical background image estimation and per-pixel Bayesian segmentation. It[1] was introduced by Andrew B. Godbehere, Akihiro Matsukawa, Ken Goldberg in 2012. As per the paper, the system ran a successful interactive audio art installation called "Are We There Yet?" from March 31 - July 31 2011 at the Contemporary Jewish Museum in San Francisco, California.
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It uses first few (120 by default) frames for background modelling. It employs probabilistic foreground segmentation algorithm that identifies possible foreground objects using Bayesian inference. The estimates are adaptive; newer observations are more heavily weighted than old observations to accommodate variable illumination. Several morphological filtering operations like closing and opening are done to remove unwanted noise. You will get a black window during first few frames.

References
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[1]: A.B. Godbehere, A. Matsukawa, K. Goldberg. Visual tracking of human visitors under variable-lighting conditions for a responsive audio art installation. American Control Conference. (2012), pp. 4305–4312