Xingzhi Luo Suchendra M. Bhandarkar Wei Hua Haisong Gu Nonparametric Background Modeling Using the CONDENSATION Algorithm. 3 2006 conf/avss/2006 AVSS http://doi.ieeecomputersociety.org/10.1109/AVSS.2006.81 db/conf/avss/avss2006.html#LuoBHG06