# Background Subtraction for Moving Object Detection in RGBD Data: A Survey
## 6 Comparisons
### Summary of the Findings and Open Issues  
From the reported comparisons, it can be argued that, generally, most of the issues related to RGB data may be solved by accurate depth information, being insensitive to scene color and illumination conditions (color camouflage, illumination changes, and color shadows) and providing geometric information of the scene (bootstrapping and intermittent motion). This does not hold in cases where \begin{table}
\begin{tabular}{l c c c c c c c} \hline \hline
**Method** & **Rec** & **Sp** & **FPR** & **FNR** & **PWC** & **Prec** & \(\rm F_{1}\) \\ \hline \multicolumn{8}{c}{IlluminationChanges} \\ \hline RGBD-SOBS & 0.4514 & 0.9955 & 0.0045 & 0.0486 & 0.9321 & 0.4737 & 0.4597 \\ RGB-SOBS & 0.4366 & 0.9715 & 0.0285 & 0.0634 & 3.5022 & 0.4759 & 0.4527 \\ SRPCA & 0.4795 & 0.9816 & 0.0184 & 0.0205 & 1.9171 & 0.4159 & 0.4454 \\ AvgM-D & 0.3392 & 0.9888 & 0.0142 & 0.1608 & 3.0717 & 0.4188 & 0.3569 \\ Kim & 0.4479 & 0.9935 & 0.0065 & 0.0521 & 1.1395 & 0.4587 & 0.4499 \\ SCAD & 0.4699 & 0.9927 & 0.0073 & 0.0301 & 0.9715 & 0.4567 & 0.4610 \\ cwisardH+ & 0.4707 & 0.9914 & 0.0086 & 0.0293 & 1.0754 & 0.4504 & 0.4581 \\ MFCN & **0.4986** & **0.9987** & **0.0013** & **0.0014** & **0.1255** & **0.4912** & **0.4949** \\ \hline \multicolumn{8}{c}{IntermittentMotion} \\ \hline RGBD-SOBS & 0.8921 & 0.9970 & 0.0030 & 0.1079 & 0.8648 & 0.9544 & 0.9202 \\ RGB-SOBS & 0.9265 & 0.9208 & 0.0972 & 0.0735 & 9.3877 & 0.4054 & 0.5397 \\ SRPCA & 0.8893 & 0.9629 & 0.0371 & 0.1107 & 3.7026 & 0.7208 & 0.7735 \\ AvgM-D & 0.8976 & 0.9912 & 0.0088 & 0.1024 & 1.4603 & 0.9115 & 0.9027 \\ Kim & 0.9418 & 0.9938 & 0.0062 & 0.0582 & 0.9213 & 0.9385 & 0.9390 \\ SCAD & 0.9563 & 0.9914 & 0.0086 & 0.0437 & 0.8616 & 0.9243 & 0.9375 \\ cwisardH+ & 0.8086 & 0.9558 & 0.0442 & 0.1914 & 5.0851 & 0.5984 & 0.6633 \\ MFCN & **0.9906** & **0.9987** & **0.0013** & **0.0094** & **0.2466** & **0.9836** & **0.9870** \\ \hline \multicolumn{8}{c}{OutOffRange} \\ \hline RGBD-SOBS & 0.9170 & 0.9975 & 0.0025 & 0.0830 & 0.5613 & 0.9362 & 0.9260 \\ RGB-SOBS & 0.8902 & 0.9896 & 0.0104 & 0.1098 & 1.3610 & 0.8237 & 0.8527 \\ SRPCA & 0.8785 & 0.9878 & 0.0122 & 0.1215 & 1.6100 & 0.7443 & 0.8011 \\ AvgM-D & 0.6319 & 0.9860 & 0.0140 & 0.3681 & 2.7663 & 0.6360 & 0.6325 \\ Kim & 0.9040 & 0.9961 & 0.0039 & 0.0960 & 0.8228 & 0.9216 & 0.9120 \\ SCAD & 0.9286 & 0.9965 & 0.0035 & 0.0714 & 0.5711 & 0.9357 & 0.9309 \\ cwisardH+ & 0.8959 & 0.9956 & 0.0044 & 0.1041 & 0.8731 & 0.9038 & 0.8987 \\ MFCN & **0.9917** & **0.9982** & **0.0018** & **0.0083** & **0.2018** & **0.9613** & **0.9763** \\ \hline \multicolumn{8}{c}{Shadows} \\ \hline RGBD-SOBS & 0.9323 & 0.9970 & 0.0030 & 0.0677 & 0.7001 & 0.9733 & 0.9500 \\ RGB-SOBS & 0.9359 & 0.9881 & 0.0119 & 0.0641 & 1.5128 & 0.9140 & 0.9218 \\ SRPCA & 0.7592 & 0.9768 & 0.0232 & 0.2408 & 4.0602 & 0.8128 & 0.7591 \\ AvgM-D & 0.8812 & 0.9876 & 0.0124 & 0.1188 & 1.9330 & 0.8927 & 0.8784 \\ Kim & 0.9270 & 0.9934 & 0.0066 & 0.0730 & 1.0771 & 0.9404 & 0.9314 \\ SCAD & 0.9665 & 0.9910 & 0.0099 & 0.0335 & 1.0093 & 0.9276 & 0.9458 \\ cwisardH+ & 0.9518 & 0.9877 & 0.0123 & 0.0482 & 1.3942 & 0.9062 & 0.9264 \\ MPCN & **0.9893** & **0.9983** & **0.0017** & **0.0107** & **0.2178** & **0.9842** & **0.9867** \\ \hline \end{tabular}
\end{table} 
Table 9: Average results of various background subtraction methods for each category of the SBM-RGBD dataset (Part 2). In boldface, the best results for each metric and each category. Figure 6: MultiPeople2 video from the SBM-RGBD dataset (OutOffRange category). (**a**) RGB image; (**b**) Depth image; (**c**) GT. depth measurements or estimation are not sufficiently accurate. However, the combined use of both color and depth information was shown to allow achieving results better than those obtained by color alone or depth alone. Indeed, a clever combination of this information enables the exploitation of depth benefits, at the same time overcoming the issues arising from eventual depth inaccuracies, by exploiting the complimentary color information.