An image-processing apparatus, comprising: at least one image processor configured to: receive a depth image of a scene from a first-type of sensor and a color image of said scene from a second-type of sensor, wherein said scene comprises at least an object-of-interest; obtain a first object mask of said object-of-interest by a depth thresholding operation on said received depth image; remove dangling-pixel artifacts present on a first object boundary of said first object mask in said depth image; position a moving template filter on said color image to encompass at least one of a plurality of boundary pixels on a boundary in the color image corresponding to the first object boundary of the first object mask after the dangling pixel artifacts have been removed such that said moving template filter includes a first set of pixels located in an interior region inside the boundary in the color image and a second set of pixels located in an exterior region outside the boundary in the color image; adjusting the first object boundary of the first object mask after the dangling artifacts have been removed to generate a second object mask with a second object boundary by computing image gradients of pixels within the moving template filter in a direction normal to the boundary in the color image, defining the second object boundary based on the pixels with the maximum image gradient; and extract said object-of-interest from said color image based on said generated second object mask having said second object boundary. at least one image processor configured to: receive a depth image of a scene from a first-type of sensor and a color image of said scene from a second-type of sensor, wherein said scene comprises at least an object-of-interest; obtain a first object mask of said object-of-interest by a depth thresholding operation on said received depth image; remove dangling-pixel artifacts present on a first object boundary of said first object mask in said depth image; position a moving template filter on said color image to encompass at least one of a plurality of boundary pixels on a boundary in the color image corresponding to the first object boundary of the first object mask after the dangling pixel artifacts have been removed such that said moving template filter receive a depth image of a scene from a first-type of sensor and a color image of said scene from a second-type of sensor, wherein said scene comprises at least an object-of-interest; obtain a first object mask of said object-of-interest by a depth thresholding operation on said received depth image; remove dangling-pixel artifacts present on a first object boundary of said first object mask in said depth image; position a moving template filter on said color image to encompass at least one of a plurality of boundary pixels on a boundary in the color image corresponding to the first object boundary of the first object mask after the dangling pixel artifacts have been removed such that said moving template filter includes a first set of pixels located in an interior region inside the boundary in the color image and a second set of pixels located in an exterior region outside the boundary in the color image; adjusting the first object boundary of the first object mask after the dangling artifacts have been removed to generate a second object mask with a second object boundary by computing image gradients of pixels within the moving template filter in a direction normal to the boundary in the color image, defining the second object boundary based on the pixels with the maximum image gradient; and extract said object-of-interest from said color image based on said generated second object mask having said second object boundary. adjusting the first object boundary of the first object mask after the dangling artifacts have been removed to generate a second object mask with a second object boundary by computing image gradients of pixels within the moving template filter in a direction normal to the boundary in the color image, defining the second object boundary based on the pixels with the maximum image gradient; and extract said object-of-interest from said color image based on said generated second object mask having said second object boundary.