# Background Subtraction for Moving Object Detection in RGBD Data: A Survey
## 3 Methods
\begin{table}
\begin{tabular}{l l l l c} \hline \hline \multirow{2}{*}{**Authors \& Ref.**} & **Used** & **Depth** & \multirow{2}{*}{**Model**} & **No. of** \\  & **Data** & **Data** & & **Models** \\ \hline [PERSON] et al. (1998) [6] & D & Stereo & Single Gaussian & 1 \\ [PERSON] et al. (1999) [42] & RGBD & Stereo & MoG & 1 \\ [PERSON] et al. (2000) [43] & RGBD & Stereo & Geometric & 1 \\ [PERSON] et al. (2001) [16] & RGBD & Stereo & MoG & 1 \\ [PERSON] et al. (2005) [44] & RGBD & Stereo & MoG & 1 \\ [PERSON] et al. (2008) [45] & RGBD & ToF & Thresholding & 2 \\ [PERSON] et al. (2008) [11] & D & ToF & Single Gaussian & 1 \\ [PERSON] et al. (2008) [46] & D & IR & Thresholding & 1 \\ [PERSON] et al. (2009) [7] & D & ToF & MoG & 1 \\ [PERSON] et al. (2009) [47] & RGBD & ToF & ViBe & 2 \\ [PERSON] et al. (2010) [48] & RGBD & ToF & MoG & 2 \\ [PERSON] et al. (2010) [49] & RGBD & ToF \& Stereo & MoG + Single Gaussian & 2 \\ [PERSON] et al. (2011) [50] & D & ToF & Thresholding & 1 \\ [PERSON] et al. (2011) [51] & RGBD & ToF & Thresholding & 1 \\ [PERSON] et al. (2011) [52] & RGBD & Stereo & MoG & 1 \\ [PERSON] et al. (2011) [53] & RGBD & ToF & Frame diff. + region growing & 2 \\ [PERSON] et al. (2011) [54] & D & Kinect & Single Gaussian & 1 \\ [PERSON] and [PERSON] (2011) [55] & RGBD & ToF & MoG + avg. & 2 \\ [PERSON] and [PERSON] (2011) [56] & D & Kinect & [d\({}_{m}\),d\({}_{M}\)] & 1 \\ [PERSON] et al. (2012) [6] & D & Kinect & Frame difference & 1 \\ [PERSON] et al. (2013) [57] & RGBD & Kinect & Single Gaussian & 1 \\ [PERSON] et al. (2013) [58] & RGBD & Kinect & Codebook & 1 \\ [PERSON] et al. (2013) [10] & D & Kinect & Frame difference & 1 \\ [PERSON] et al. (2013) [59] & RGBD & Stereo & Vibe & 2 \\ [PERSON] et al. (2013) [60] & D & Kinect & Single Gaussian & 1 \\ [PERSON] et al. (2014) [61] & D & Kinect & Single Gaussian & 2 \\ [PERSON] and [PERSON] (2014) [17] & RGBD & Kinect & MoG & 2 \\ [PERSON] et al. (2014) [62] & RGBD & Kinect & MoG & 2 \\ [PERSON] et al. (2014) [63] & RGBD & Kinect & SOBS & 2 \\ [PERSON] et al. (2014) [15] & RGBD & Stereo & Codebook & 2 \\ [PERSON] and [PERSON] (2014) [18] & RGBD & Kinect & MoG & 2 \\ [PERSON] et al. (2014) [64] & RGBD & Kinect & KDE & 1 \\ [PERSON] et al. (2014) [65] & RGBD & Kinect & Codebook & 1 \\ [PERSON] et al. (2014) [66] & RGBD & Kinect & MoG & 2 \\ [PERSON] et al. (2015) [67] & RGBD & Asus & Mean & 1 \\ [PERSON] et al. (2015) [68] & D & Kinect & Thresholding & 1 \\ [PERSON] et al. (2015) [69] & RGBD & Kinect & Thresholding & 1 \\ [PERSON] et al. (2015) [70] & RGBD & Stereo & RPCA & 2 \\ [PERSON] et al. (2015) [71] & RGBD & Kinect & MoG & 2 \\ [PERSON] et al. (2015) [72] & RGBD & Kinect & MoG + Single Gaussian & 2 \\ [PERSON] et al. (2015) [73] & RGBD & Kinect & RPCA & 1 \\ [PERSON] et al. (2016) [19] & RGBD & Kinect & Vibe & 2 \\ [PERSON] et al. (2016) [20] & RGBD & Kinect & MoG & 2 \\ [PERSON] et al. (2016) [74] & D & Kinect & MoG & 1 \\ [PERSON] et al. (2017) [75] & RGBD & Kinect & Fuzzy frame diff. & 2 \\ [PERSON] and [PERSON] (2017) [76] & RGBD & Kinect & WiSARD & 2 \\ [PERSON] et al. (2017) [77] & RGBD, D & Kinect & RPCA & 1 \\ [PERSON] and [PERSON] (2017) [78] & RGBD & Kinect & SOBS & 2 \\ [PERSON] et al.(2017) [79] & RGBD & Kinect & ViBe & 2 \\ [PERSON] et al. (2017) [32] & RGBD & Kinect & KDE & 1 \\ [PERSON] et al. (2017) [80] & RGBD & Kinect \& Stereo & KDE & 1 \\ [PERSON] et al. (2017) [81] & RGBD & Kinect & ViBe & 1 \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Summary of background subtraction methods for RGBD videos. In [46], [PERSON] et al. present an algorithm for bi-layer segmentation of natural videos in real time using a combination of infrared, color, and edge information. A prime application of this system is in telepresence, where there is a need to remove the background and replace it with a new one. For each frame, the IR image is used to pre-segment the color image using a simple thresholding technique. This pre-segmentation is adopted to initialize a pentamap, which is then used by graph cuts algorithm to find the final foreground region.