Background (BG) -> Black [0 0 0]
Moving foreground objects (MFO) -> Green [0 255 0]
Short-term stationary foreground objects (ST-SFO) -> Yellow [255 255 0]
Long-term stationary foreground objects (LT-SFO) -> Red [255 0 0]
Uncovered background (UBG) -> White [255 255 255]
Ocluded stationary foreground objects (OSFO) -> Cyan [0 255 255]