Disparity Features

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G. Gordon, T. Darrell, M. Harville, J. Woodfill, “Background estimation and removal based on range and color”, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, CVPR 1999,Volume 2, pages 459-464, Ft. Collins, USA, June 1999.

K. Hati, P. Sa, B. Majh, "Intensity Range based Background Subtraction for Effective Object Detection", IEEE Signal Processing Letters, 2013.