We can find that the road is flat, the color is single and texture information is not obvious in the background images, while the color is rich and texture information is obvious in the Vehicle images, from the image sequences. The reason is that the edge of the vehicle front part in images is rich, such as the lights, heat sinks, plates, etc., which is depicted in Figure 1. According to this feature of the highway image sequences, firstly this paper identifies the background images roughly. Secondly, do the background modeling using the images of the previous step results.
Background images contrast with the vehicle images