An image-processing apparatus, comprising: a first-type of sensor configured to capture a sequence of color image frames of a scene; a second-type of sensor configured to capture a depth image for each corresponding color image frame of the sequence of color image frames; and control circuitry configured to: receive an input color image frame of the sequence of color image frames from the first-type of sensor and a corresponding input depth image for the input color image frame from the second-type of sensor; generate a first binarized difference map comprising a plurality of difference values between each pixel of a plurality of pixels of the input color image and a corresponding pixel of a plurality of pixels of a background color image of the scene; generate a first foreground mask of an object-of-interest for the input color image frame, using the input depth image for the input color image frame and a background depth image of the scene, and the first binarized difference map; generate a second foreground mask of the object-of-interest in the input color image frame, based on at least a shape of a portion of a human body in the input color image frame of the sequence of color image frames; detect a first set of pixels in the generated first foreground mask as misclassified image pixels, by binarization of a difference between the generated first foreground mask and the generated second foreground mask of the object-of-interest, wherein the detected first set of pixels are a plurality of background pixels which are misclassified as foreground pixels in the generated first foreground mask; update the background color image and the background depth image of the scene using a color component, a depth component, and a spatial position of each pixel of the detected first set of pixels; and extract the object-of-interest from the input color image frame, based on at least the updated background color image and the background depth image of the scene. a first-type of sensor configured to capture a sequence of color image frames of a scene; a second-type of sensor configured to capture a depth image for each corresponding color image frame of the sequence of color image frames; and control circuitry configured to: receive an input color image frame of the sequence of color image frames from the first-type of sensor and a corresponding input depth image for the input color image frame from the second-type of sensor; generate a first binarized difference map comprising a plurality of difference values between each pixel of a plurality of pixels of the input color image and a corresponding pixel of a plurality of pixels of a background color image of the scene; generate a first foreground mask of an object-of-interest for the input color image frame, using the input depth image for the input color image frame and a background depth image of the scene, and the first binarized difference map; generate a second foreground mask of the object-of-interest in the input color image frame, based on at least a shape of a portion of a human body in the input color image frame of the sequence of color image frames; detect a first set of pixels in the generated first foreground mask as misclassified image pixels, by binarization of a difference between the generated first foreground mask and the generated second foreground mask of the object-of-interest, wherein the detected first set of pixels are a plurality of background pixels which are misclassified as foreground pixels in the generated first foreground mask; update the background color image and the background depth image of the scene using a color component, a depth component, and a spatial position of each pixel of the detected first set of pixels; and extract the object-of-interest from the input color image frame, based on at least the updated background color image and the background depth image of the scene. receive an input color image frame of the sequence of color image frames from the first-type of sensor and a corresponding input depth image for the input color image frame from the second-type of sensor; generate a first binarized difference map comprising a plurality of difference values between each pixel of a plurality of pixels of the input color image and a corresponding pixel of a plurality of pixels of a background color image of the scene; generate a first foreground mask of an object-of-interest for the input color image frame, using the input depth image for the input color image frame and a background depth image of the scene, and the first binarized difference map; generate a second foreground mask of the object-of-interest in the input color image frame, based on at least a shape of a portion of a human body in the input color image frame of the sequence of color image frames; detect a first set of pixels in the generated first foreground mask as misclassified image pixels, by binarization of a difference between the generated first foreground mask and the generated second foreground mask of the object-of-interest, wherein the detected first set of pixels are a plurality of background pixels which are misclassified as foreground pixels in the generated first foreground mask; update the background color image and the background depth image of the scene using a color component, a depth component, and a spatial position of each pixel of the detected first set of pixels; and extract the object-of-interest from the input color image frame, based on at least the updated background color image and the background depth image of the scene.