int width;                           // width of the image
int height;                          // height of the image
byte image[width*height];            // current image
byte segmentationMap[width*height];  // classification result

int numberOfSamples = 20;     // number of samples per pixel
int requiredMatches = 2;      // #_min
int distanceThreshold = 20;          

byte samples[width*height][numberOfSamples]; // background model

for (int p = 0; p < width*height; p++) {
	int count=0, index=0, distance=0;

	// counts the matches and stops when requiredMatches are found
	while ( (count < requiredMatches) && (index < numberOfSamples) ) {
		distance = getDistanceBetween(image[p], samples[p][index]);
		if (distance < distanceThreshold) { 
			count++; }
		index++;
	}

	// pixel classification 
	if (count < requiredMatches)
		segmentationMap[p] = FOREGROUND_LABEL;
	else
		segmentationMap[p] = BACKGROUND_LABEL;
}