A computer-implemented method of generating a spatio-temporal pattern model for spatio-temporal pattern recognition includes receiving one or more training trajectories. Each of the training trajectories includes diverse data points that represent a spatio-temporal pattern. The received training trajectories define an area that is partitioned into one or more observed clusters, and a unpopulated complementary cluster. The spatio-temporal pattern model is generated so as to include both of the observed clusters and the unpopulated complementary cluster.
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