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This paper presents a novel human motion detection system using an omni-camera on a platform of autonomous mobile robot. Compared with other related works, the system using an omni-directional camera provides a larger FOV (field of view) for motion detection, and makes a better effect using temporal differencing method based on compensation for ego-motion. Furthermore, the method, respectively combined with color information and feature point's on human body, is employed to determine human motion contours, which consequently improves the performance of the temporal differencing method. Experimental results show that the system provides an efficient way to track human motion in an indoor environment.