Devices and techniques are generally described for segmentation of image data using depth data. In various examples, color image data may be received from a digital camera. In some examples, depth image data may be received from a depth sensor. In various examples, the depth image data may be separated into a plurality of clusters of depth image data, wherein each cluster is associated with a respective range of depth values. In some further examples, a determination may be made that a first cluster of image data corresponds to an object of interest, such as a human subject, in the image data. In various examples, pixels of the first cluster may be encoded with foreground indicator data. In some further examples, segmented image data may be generated. The segmented image data may comprise pixels encoded with the foreground indicator data.