This paper proposes a foreground segmentation method for indoor environments using depth images only. It uses a morphological operator and histogram analysis to segment the foreground. In order to compare the accuracy for foreground segmentation, we use metric measurements of false positive rate (FPR), false negative rate (FNR), total error (TE), and a similarity measure (S). A series of experimental results using video sequences collected under various circumstances are discussed. The proposed system is also designed in a field-programmable gate array (FPGA) implementation with low hardware resources.