1. A computer-implemented method of background-foreground segmentation for image processing, comprising: obtaining pixel data comprising both non-depth data and depth data for at least one image, wherein the non-depth data comprises color data or luminance data or both and associated with the pixels; determining whether a portion of the image is part of a background or foreground of the image based on the depth data and without using the non-depth data; and determining whether a border area between the background and foreground formed by using the depth data are part of the background or foreground depending on the non-depth data without using the depth data.