1. A method of foreground detection, the method comprising: receiving a set of digital images, the set of digital images including a current image having a set of pixels, a first previous image having a set of pixels, at least one of which corresponds to at least one of the set of pixels of the current image, and a second previous image having a set of pixels, at least one of which corresponds to at least one pixel in each of the current image and the first previous image; receiving a segment map corresponding to the current image, the segment map defining at least one segment of the current image; constructing a foreground indicator map, the foreground indicator map comprising a set of pixels, wherein each of the set of pixels of the foreground indicator map corresponds to one of the set of pixels in the current image, and wherein each of the set of pixels of the foreground indicator map includes an initial classification corresponding to a foreground or a background; constructing a filtered foreground indicator map by filtering the foreground indicator map by applying a filter configured to preserve structures having a fractal dimensionality of at least one; and identifying, based on the filtered foreground indicator map, the at least one segment as a foreground segment or a background segment.