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Object extraction is an important tool in many applications within the image processing and computer vision communities. You Only Look Once version 3 (YOLOv3) has been extensively applied to many fields as a state-of-the-art technique for object semantic detection. Despite its numerous characteristics, YOLOv3 has to be combined with appropriate image segmentation technologies to achieve effective 2D object extraction in real-time monitoring, robot navigation, and target search. In this article, the K-means algorithm is applied to the segmentation of depth images. Considering the inherent sensitivity to the randomness of the initial cluster center and the uncertainty of cluster number K in the initialization phase of the K-means algorithm, this article proposes a new method that combines the semantic image information with the image depth information. Specifically, this method proposed to pre-classify the center depth of the object to determine the appropriate value of K required in the K-means algorithm. At the same time, the proposed algorithm improves the selection of the initial center via the maximin method. This article introduces a multi-parameter extraction method to enable to correctly identify the object of interest after image segmentation. The technique considers three parameters to achieve this: i) the elements of size, ii) the connected domain, and iii) the diagonal detection. Experiments using open-source datasets demonstrate that the average processing time and the segmentation accuracy of the improved K-means algorithm are 20.36% faster and 3.12% higher than the conventional K-means algorithm, respectively. The extraction accuracy of the proposed method is 6.69% higher than that of the SuperCut extraction method.