An image processing device capable of generating foreground object data by using a captured image includes a depth data generator configured to generate depth data of the captured image; an amplitude data generator configured to generate amplitude data of the captured image; a foreground object detector configured to perform a first detection operation for detecting the foreground object based on the generated depth data and first reference background data, and to perform a second detection operation for detecting the foreground object based on the generated amplitude data and second reference background data; and a foreground object data generator configured to generate the foreground object data based on a result of the first detection operation and a result of the second detection operation.