US Patent 10489916 Method and apparatus for updating a background model

There is provided a method and an apparatus for updating a background model used for background subtraction of an image. An image is received and each pixel in the image is classified as being foreground or background by performing background subtraction using a background model which comprises a collection of background samples for each pixel in the image. For each pixel in the image being classified as background, the background model is updated by selecting a background sample in the collection of background samples associated with the pixel which fulfills a similarity condition, and replacing the background sample which fulfills the similarity condition with image data of the pixel.