A background subtraction apparatus of the present invention includes a key point locator for locating key points on a known object type, a boundary point locator for locating boundary points of the known object that make up the edges of the known object, and an edge processor for processing the edges to provide a clean-edged extraction of the known object from a background image. Preferably, the key point locator includes an alignment detector for detecting alignment of an image of the known object type with a skeleton image. Still more preferably, the skeleton image is an exoskeleton image and the known object type is a human being.

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