This paper proposes a foreground segmentation method for indoor environments using depth images only. It uses a morphological operator and histogram analysis to segment the foreground. In order to compare the accuracy for foreground segmentation, we use metric measurements of false positive rate (FPR), false negative rate (FNR), total error (TE), and a similarity measure (S). A series of experimental results using video sequences collected under various circumstances are discussed. The proposed system is also designed in a field-programmable gate array (FPGA) implementation with low hardware resources.

A novel shadow removal approach is proposed by using block-wise transform domain shadow detection. The approach is based on the fact that the spatial frequency distributions on normal background areas and those under casted shadows from foreground objects are the same. The proposed approach is especially useful for silhouette extraction by using the Gaussian Mixture background Model (GMM) foreground segmentation in the transform domain, because the frequency distribution has already been calculated in the foreground segmentation. The stable shadow removal is realized, due to the transform domain implementation.

This paper describes a multiresolutional Gaussian mixture model (GMM) for precise and stable foreground segmentation. A multiple block sizes GMM and a computationally efficient fine-to-coarse strategy, which are carried out in the Walsh transform (WT) domain, are newly introduced to the GMM scheme. By using a set of variable size block-based GMMs, a precise and stable processing is realized. Our fine-to-coarse strategy comes from the WT spectral nature, which drastically reduces the computational steps. In addition, the total computation amount of the proposed approach requires only less than 10% of the original pixel-based GMM approach. Experimental results show that our approach gives stable performance in many conditions, including dark foreground objects against light, global lighting changes, and scenery in heavy snow.