  This paper presents a novel approach for background/foreground segmentation
of RGBD data with the Gaussian Mixture Models (GMM). We first start by the
background subtraction from the colour and depth images separately. The
foregrounds resulting from both streams are then fused for a more accurate
detection. Our segmentation solution is implemented on the GPU. Thus, it works
at the full frame rate of the sensor (30fps). Test results show its robustness
against illumination change, shadows and reflections.
