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A. Elgammal, R. Duraiswami, D. Harwood and L. S. Davis, “Background and Foreground Modeling Using Nonparametric Kernel Density Estimation for Visual Surveillance,” Proceedings of the IEEE, Vol. 90, No. 7, 2002, pp. 1151-1163. doi:10.1109/JPROC.2002.801448

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