Fig. 1. Overall block diagram of algorithm

Fig. 2. Color feature extraction of multi-thresholds moving objects. (a) Original image; (b) PC; (c) SC1; (d) SC2; (e) SC3; (f) SC4

Fig. 3. Schematic of color and texture based multi-thresholds combined with motion compensation

Fig. 4. Compensation of color and texture combined foreground objects

Fig. 5. Flow chart of Canny edge detection method combined with Canny thoughts

Fig. 6. Ghost suppression effect in edge detection

Fig. 7. Moving objects detection results obtained by several algorithms under different scenes from CDNet2014 dataset

Fig. 8. P-R curves obtained by different algorithms under six scenes from CDNet2014 dataset. (a) Bus station; (b) badminton; (c) sidewalk; (d) sofa; (e) PETS2006; (f) wet snow

Fig. 9. Fm value in each test dataset for different algorithms

Fig. 10. Foreground and mistakenly detected pixels for the proposed algorithm under different scenes. (a) Bus station; (b) badminton; (c) sidewalk; (d) sofa; (e) PETS2006; (f) wet snow

Fig. 11. Experiment. (a) Experimental devices; (b) results of object detection obtained by each algorithm