Background subtraction based on Gaussian mixture models using color and depth information

In this paper, we propose a background subtraction (BGS) method based on the Gaussian mixture models using color and depth information. For combining color and depth information, we used the probabilistic model based on Gaussian distribution. In particular, we focused on solving color camouflage problem and depth denoising. For evaluating our method, we built a new dataset containing normal, color camouflage and depth camouflage situations. The dataset files consist of color, depth and ground truth image sequences. With these files, we compared the proposed algorithm with the conventional color-based BGS techniques in terms of precision, recall and F-measure. As a result, our method showed the best performance. Thus, this technique will help to robustly detect regions of interest as pre-processing in high-level image processing stages.