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Elgammal, A., Duraiswami, R., Harwood, D. and Davis, L.S. (2002) Background and Foreground Modeling Using Nonparametric Kernel Density Estimation for Visual Surveillance. Proceedings of the IEEE, 90, 1151-1163.
http://dx.doi.org/10.1109/JPROC.2002.801448

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