“…The ViBe Algorithm has a good robustness and high detection precision, but there may be a lot of holes in the moving object, a fault in the middle of the moving object and the ghost phenomenon in the process of building the background sample when dealing with complex scene (Zhang Y et al, 2017). On this basis, a Track Before Detect (TBD) method has been proposed for moving object detection, which mainly includes dynamic programming track before detect (DP-TBD) (Meng N et al, 2019), particle filter track before detect (PF-TBD) and Hough Transform track before detect (HT-TBD) ( Meiqin Liu et al, 2017Liu et al, , Y. F et al, 2017, etc., greatly improves the detection precision of moving targets, but lacks robustness and real-time. In recent years, in order to solve the problem of target tracking association, the second-order relationship between adjacent targets has been established.…”