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How do i obtain the reference frame?

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Phillip Tiam Watt
Phillip Tiam Watt 2012-8-23
"The reference frame has to be obtained first and it should be get subtracted with the current frame to acquire the frame with tracked ."
http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=06179193&tag=1
This is what i found out from IEEE... aside from acquiring the frame, how do I use image subtraction?

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