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This paper presents a probabilistic method for foreground segmentation that distinguishes moving objects from their cast shadows in monocular indoor image sequences. The models of background, shadow, and edge information are set up and adaptively updated. A Bayesian framework is proposed to describe the relationships among the segmentation label, background, intensity, and edge information. A Markov random field is used to boost the spatial connectivity of the segmented regions. The solution is obtained by maximizing the posterior probability density of the segmentation field.