car detection dynamic background

I am new to matlab, I want to detect cars in live, without a static camera (camera is put on the roof of the car), so, the background is constantly changing.

The models from Computer Vision Toolbox uses a static background. How can I detect cars with a dynamic background ?

Thanks !

[Walter Roberson]

Deleting your question and re-posting is not beneficial. If you wish to remind people about your question, you can edit it or post additional information.

Your current version of the question has omitted the fact that you have a lidar as well, which could be important for solving the problem by cross-correlating the information between the two devices.

I do not think you will find any built-in routines in MATLAB to do this detection, so you will probably need to develop an algorithm first.