1
00:00:01,590 --> 00:00:05,070
We start off by checking, do we have the background model ready?

2
00:00:07,500 --> 00:00:10,560
If we don't, then we extract the background model from the.

3
00:00:11,520 --> 00:00:13,590
This is the model initialization step.

4
00:00:15,870 --> 00:00:19,530
Then for the next site relations, we now have the background model.

5
00:00:20,100 --> 00:00:24,300
So we localize the robot as that is the only foreground object.

6
00:00:25,880 --> 00:00:32,990
Finally, we use the centroid to get the precise location of the robot at any given moment.