For each image pixel we must measure the likelihood that it is a member of each of the blob models and the scene model.
For each pixel in the new image, we define 
to be the
vector (x,y,Y,U,V). For each class k (e.g., for each blob and for
the corresponding point on the scene texture model) we then measure the
log likelihood
Missing or implicit spatial components are assumed to contribute
nothing to the membership likelihood.