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Per the documentation, see the papers

[271] Zoran Zivkovic and Ferdinand van der Heijden. Efficient adaptive density estimation per image pixel for the task of background subtraction. Pattern recognition letters, 27(7):773–780, 2006.

[272] Zoran Zivkovic. Improved adaptive gaussian mixture model for background subtraction. In Pattern Recognition, 2004. ICPR 2004. Proceedings of the 17th International Conference on, volume 2, pages 28–31. IEEE, 2004.