With its wide-angle imaging and information richness

the fish-eye camera has a brilliant prospect in application.This paper presents a moving object detection method for on-board monocular fish-eye cameras.Firstly

a sub-block motion compensation model is proposed to compensate image background motion

which solves the ineffective strong parallax scene compensation problem.Secondly

when it comes to solve the parameters of sub-block motion compensation model

ego-vehicle motion parameters are introduced to simplify the number of model parameters

and the direct method is used to avoid the problem that the traditional feature-point-based matching method is susceptible to mismatching feature points.Then for the image distortion problem

this paper proposes a three-plane rectification method to obtain sub-block motion compensation images.Finally

the moving object detection is realized using the difference between sub-block motion compensation images and captured images.Experimental results show the effectiveness of the proposed method.