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In addition, the recent widespread of Pan\u2013Tilt\u2013Zoom (PTZ) cameras has made the management of these aspects even more complex in terms of performance due to their mixed movements (i.e. pan, tilt, and zoom). In this paper, a combined keypoint clustering and neural background subtraction method, based on Self-Organized Neural Network (SONN), for real-time moving object detection in video sequences acquired by PTZ cameras is proposed. Initially, the method performs a spatio-temporal tracking of the sets of moving keypoints to recognize the foreground areas and to establish the background. Then, it adopts a neural background subtraction, localized in these areas, to accomplish a foreground detection able to manage bootstrapping and gradual illumination changes. Experimental results on three well-known public datasets, and comparisons with different key works of the current literature, show the efficiency of the proposed method in terms of modeling and background subtraction. <\/jats:p>","DOI":"10.1142\/s0129065720500161","type":"journal-article","created":{"date-parts":[[2020,2,4]],"date-time":"2020-02-04T07:36:02Z","timestamp":1580801762000},"page":"2050016","source":"Crossref","is-referenced-by-count":7,"title":["Fusing Self-Organized Neural Network and Keypoint Clustering for Localized Real-Time Background Subtraction"],"prefix":"10.1142","volume":"30","author":[{"given":"Danilo","family":"Avola","sequence":"first","affiliation":[{"name":"Department of Computer Science, Sapienza University, Via Salaria 113, 00198 Rome, Italy"}]},{"given":"Marco","family":"Bernardi","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Sapienza University, Via Salaria 113, 00198 Rome, Italy"}]},{"given":"Luigi","family":"Cinque","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Sapienza University, Via Salaria 113, 00198 Rome, Italy"}]},{"given":"Cristiano","family":"Massaroni","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Sapienza University, Via Salaria 113, 00198 Rome, Italy"}]},{"given":"Gian Luca","family":"Foresti","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Mathematics and Physics, University of Udine, Via delle Scienze, 33100 Udine, Italy"}]}],"member":"219","published-online":{"date-parts":[[2020,3,2]]},"reference":[{"key":"S0129065720500161BIB001","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2015.05.088"},{"key":"S0129065720500161BIB002","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-07386-6"},{"key":"S0129065720500161BIB003","doi-asserted-by":"publisher","DOI":"10.1109\/ICIAP.2007.4362799"},{"key":"S0129065720500161BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/ICDSC.2009.5289368"},{"key":"S0129065720500161BIB005","doi-asserted-by":"publisher","DOI":"10.3233\/ICA-180564"},{"key":"S0129065720500161BIB006","doi-asserted-by":"publisher","DOI":"10.3233\/ICA-180593"},{"key":"S0129065720500161BIB007","doi-asserted-by":"publisher","DOI":"10.1142\/S0129065717500459"},{"key":"S0129065720500161BIB008","doi-asserted-by":"publisher","DOI":"10.1142\/S0129065718500296"},{"key":"S0129065720500161BIB009","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2004.1400815"},{"key":"S0129065720500161BIB010","doi-asserted-by":"publisher","DOI":"10.1145\/1177352.1177355"},{"key":"S0129065720500161BIB011","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2013.03.013"},{"key":"S0129065720500161BIB012","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2013.12.005"},{"key":"S0129065720500161BIB013","doi-asserted-by":"publisher","DOI":"10.1016\/j.cosrev.2014.04.001"},{"key":"S0129065720500161BIB014","doi-asserted-by":"publisher","DOI":"10.1142\/S0219691317500394"},{"key":"S0129065720500161BIB015","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2016.10.015"},{"key":"S0129065720500161BIB016","doi-asserted-by":"publisher","DOI":"10.1142\/S0129065717500563"},{"key":"S0129065720500161BIB017","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2006.875978"},{"key":"S0129065720500161BIB018","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2007.896861"},{"key":"S0129065720500161BIB019","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2008.924285"},{"key":"S0129065720500161BIB020","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2013.11.006"},{"key":"S0129065720500161BIB021","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2017.08.002"},{"key":"S0129065720500161BIB022","doi-asserted-by":"publisher","DOI":"10.3233\/ICA-2010-0345"},{"key":"S0129065720500161BIB023","doi-asserted-by":"publisher","DOI":"10.1109\/CACS.2017.8284266"},{"key":"S0129065720500161BIB024","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2017.2682102"},{"key":"S0129065720500161BIB025","doi-asserted-by":"publisher","DOI":"10.1007\/BF00337288"},{"key":"S0129065720500161BIB026","doi-asserted-by":"publisher","DOI":"10.5220\/0006722506380645"},{"key":"S0129065720500161BIB027","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2017.10.029"},{"key":"S0129065720500161BIB028","first-page":"226","volume-title":"Proc. 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