Systems and methods for image processing may perform one or more operations including, but not limited to: receiving raw image data from at least one imaging device; computing at least one image depth distance from the raw image data; computing one or more image validity flags from the raw image data; generating at least one data validity mask from the one or more image validity flags; determining a background imagery estimation from at least one image depth distance; generating at least one foreground mask from the background imagery estimation and the at least one image depth distance; generating at least one region-of-interest mask from the data validity mask and the foreground mask; and generating filtered raw image data from the raw image data and at least one region of interest mask.