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Retrieving Foreground from static background

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I am working on a video processing project which involves tracking objects which can be stationary or moving. The actual static background is available at the beginning. I have writeen a simple code for getting the foreground :

cv::Mat temp;
threshold(temp, temp, 128, 255, CV_THRESH_BINARY | CV_THRESH_OTSU);

But unfortunately the code doesnt seem to work well in retrieving the foreground objects...I will be glab if someboday provide me with some suggestions and bits of code...