diff --git a/samples/opencv_cuda_bg_remover_mog2/bgremover.py b/samples/opencv_cuda_bg_remover_mog2/bgremover.py
index ceb159a78..711ca175c 100644
--- a/samples/opencv_cuda_bg_remover_mog2/bgremover.py
+++ b/samples/opencv_cuda_bg_remover_mog2/bgremover.py
@@ -1,11 +1,15 @@
 """Background remover module."""
 
+from typing import Dict
+
 import cv2
 
+from savant.deepstream.auxiliary_stream import AuxiliaryStream
 from savant.deepstream.meta.frame import NvDsFrameMeta
 from savant.deepstream.opencv_utils import nvds_to_gpu_mat
 from savant.deepstream.pyfunc import NvDsPyFuncPlugin
 from savant.gstreamer import Gst
+from savant.parameter_storage import param_storage
 from savant.utils.artist import Artist
 
 
@@ -16,18 +20,65 @@ class BgRemover(NvDsPyFuncPlugin):
     MOG2 method from openCV is used to remove background.
     """
 
-    def __init__(self, **kwargs):
+    def __init__(
+        self,
+        codec_params: Dict,
+        **kwargs,
+    ):
         super().__init__(**kwargs)
+        self.codec_params = codec_params
+        self.result_aux_streams: Dict[str, AuxiliaryStream] = {}
         self.back_subtractors = {}
 
         self.gaussian_filter = cv2.cuda.createGaussianFilter(
             cv2.CV_8UC4, cv2.CV_8UC4, (9, 9), 2
         )
 
+    def on_source_add(self, source_id: str):
+        """Initialize an auxiliary stream for background removal result."""
+
+        self.logger.info('Source %s added.', source_id)
+        if source_id in self.result_aux_streams:
+            self.logger.info('Source %s already has a result stream.', source_id)
+            return
+
+        result_source_id = f'{source_id}-processed'
+        result_resolution = (
+            param_storage()['frame']['width'] * 2,
+            param_storage()['frame']['height'],
+        )
+        self.logger.info(
+            'Creating result auxiliary stream %s for source %s. Resolution: %s.',
+            result_source_id,
+            source_id,
+            result_resolution,
+        )
+        self.result_aux_streams[source_id] = self.auxiliary_stream(
+            source_id=result_source_id,
+            width=result_resolution[0],
+            height=result_resolution[1],
+            codec_params=self.codec_params,
+        )
+
+        if source_id in self.back_subtractors:
+            self.logger.info(
+                'Source %s already has a background subtractor.', source_id
+            )
+            return
+
+        self.logger.info('Creating background subtractor for source %s.', source_id)
+        self.back_subtractors[source_id] = cv2.cuda.createBackgroundSubtractorMOG2()
+
+    def on_stop(self) -> bool:
+        self.result_aux_streams = {}
+        return super().on_stop()
+
     def on_source_eos(self, source_id: str):
         """On source EOS event callback."""
         if source_id is self.back_subtractors:
             self.back_subtractors.pop(source_id)
+        if source_id in self.result_aux_streams:
+            self.result_aux_streams.get(source_id).eos()
 
     def process_frame(self, buffer: Gst.Buffer, frame_meta: NvDsFrameMeta):
         """Process frame metadata.
@@ -37,18 +88,20 @@ def process_frame(self, buffer: Gst.Buffer, frame_meta: NvDsFrameMeta):
         """
         stream = self.get_cuda_stream(frame_meta)
         with nvds_to_gpu_mat(buffer, frame_meta.frame_meta) as frame_mat:
-            with Artist(frame_mat, stream) as artist:
-                if frame_meta.source_id in self.back_subtractors:
+            result_stream = self.result_aux_streams[frame_meta.source_id]
+            # Created frame will be sent automatically
+            result_frame, result_buffer = result_stream.create_frame(
+                pts=frame_meta.pts,
+                duration=frame_meta.duration,
+            )
+            with nvds_to_gpu_mat(result_buffer, batch_id=0) as result_mat:
+                with Artist(result_mat, stream) as artist:
+                    frame_mat_copy = frame_mat.clone()
+
                     back_sub = self.back_subtractors[frame_meta.source_id]
-                else:
-                    back_sub = cv2.cuda.createBackgroundSubtractorMOG2()
-                    self.back_subtractors[frame_meta.source_id] = back_sub
-                ref_frame = cv2.cuda_GpuMat(
-                    frame_mat,
-                    (0, 0, int(frame_meta.roi.width), int(frame_meta.roi.height)),
-                )
-                cropped = ref_frame.clone()
-                self.gaussian_filter.apply(cropped, cropped, stream=stream)
-                cu_mat_fg = back_sub.apply(cropped, -1, stream)
-                res_image = ref_frame.copyTo(cu_mat_fg, stream)
-                artist.add_graphic(res_image, (int(frame_meta.roi.width), 0))
+                    self.gaussian_filter.apply(frame_mat_copy, frame_mat_copy, stream=stream)
+                    cu_mat_fg = back_sub.apply(frame_mat_copy, -1, stream)
+                    res_image = frame_mat_copy.copyTo(cu_mat_fg, stream)
+
+                    artist.add_graphic(frame_mat, (0, 0))
+                    artist.add_graphic(res_image, (int(frame_meta.roi.width), 0))
diff --git a/samples/opencv_cuda_bg_remover_mog2/demo.yml b/samples/opencv_cuda_bg_remover_mog2/demo.yml
index 8281e2d1e..e669dcf3f 100644
--- a/samples/opencv_cuda_bg_remover_mog2/demo.yml
+++ b/samples/opencv_cuda_bg_remover_mog2/demo.yml
@@ -7,19 +7,10 @@ parameters:
   frame:
     width: 1280
     height: 720
-    # Add paddings to the frame before processing
-    padding:
-      # Paddings are kept on the output frame
-      keep: true
-      left: 0
-      right: 1280
-      top: 0
-      bottom: 0
-  output_frame:
-    # Frame is output without any encoding
-    # this is to circumvent 3 hardware decoding processes limit on NVIDIA consumer hardware
-    codec: ${oc.env:CODEC, 'raw-rgba'}
   batch_size: 1
+  # to check auxiliary streams' encoder
+  auxiliary_encoders:
+    - ${pipeline.elements[0].kwargs.codec_params}
 
 # pipeline definition
 pipeline:
@@ -32,4 +23,9 @@ pipeline:
       module: samples.opencv_cuda_bg_remover_mog2.bgremover
       # specify the pyfunc's python class from the module
       class_name: BgRemover
+      kwargs:
+        # codec parameters for result stream (auxiliary stream)
+        codec_params:
+          codec: ${oc.env:CODEC, 'h264'}
+
   # sink definition is skipped, zeromq sink is used by default to connect with sink adapters
diff --git a/samples/opencv_cuda_bg_remover_mog2/docker-compose.l4t.yml b/samples/opencv_cuda_bg_remover_mog2/docker-compose.l4t.yml
index ebde910f4..f3627a1cc 100644
--- a/samples/opencv_cuda_bg_remover_mog2/docker-compose.l4t.yml
+++ b/samples/opencv_cuda_bg_remover_mog2/docker-compose.l4t.yml
@@ -10,7 +10,7 @@ services:
       - LOCATION=https://eu-central-1.linodeobjects.com/savant-data/demo/road_traffic.mp4
       - DOWNLOAD_PATH=/tmp/video-loop-source-downloads
       - ZMQ_ENDPOINT=pub+connect:ipc:///tmp/zmq-sockets/input-video.ipc
-      - SOURCE_ID=road-traffic-processed
+      - SOURCE_ID=road-traffic
       - SYNC_OUTPUT=True
     entrypoint: /opt/savant/adapters/gst/sources/video_loop.sh
     depends_on:
diff --git a/samples/opencv_cuda_bg_remover_mog2/docker-compose.x86.yml b/samples/opencv_cuda_bg_remover_mog2/docker-compose.x86.yml
index a7a153f1a..a91d2fa17 100644
--- a/samples/opencv_cuda_bg_remover_mog2/docker-compose.x86.yml
+++ b/samples/opencv_cuda_bg_remover_mog2/docker-compose.x86.yml
@@ -10,7 +10,7 @@ services:
       - LOCATION=https://eu-central-1.linodeobjects.com/savant-data/demo/road_traffic.mp4
       - DOWNLOAD_PATH=/tmp/video-loop-source-downloads
       - ZMQ_ENDPOINT=pub+connect:ipc:///tmp/zmq-sockets/input-video.ipc
-      - SOURCE_ID=road-traffic-processed
+      - SOURCE_ID=road-traffic
       - SYNC_OUTPUT=True
     entrypoint: /opt/savant/adapters/gst/sources/video_loop.sh
     depends_on: