1. A method for scene modeling and change detection in an image, comprising the steps of: computing optical flow for said image; performing an invariant transformation such that image pixel intensity is transformed and evaluated in an illumination-invariant space; forming a background model in a high-dimensional space; utilizing results of said computing optical flow and of said invariant transformation as features in said background model; utilizing said background model to estimate probability for a current input to belong to the background; providing a first and a second indication whenever said probability is respectively above and below a given threshold; adding said current input to said image background model whenever said probability is above said threshold; adding said current input to said image background model with a low probability whenever said probability is below said threshold; and performing morphological operations on said pixel-level detection for outputting detection.