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Recognition of multiple moving objects is a very important task for achieving user-cared knowledge to send to the base station in wireless video-based sensor networks. However, video based sensor nodes, which have constrained resources and produce huge amount of video streams continuously, bring a challenge to segment multiple moving objects from the video stream online. Traditional efficient clustering algorithms such as DBSCAN cannot run time-efficiently and even fail to run on limited memory space on sensor nodes, because the number of pixel points is too huge. This paper provides a novel algorithm named Inter-Frame Change Directing Online clustering (IFCDO clustering) for segmenting multiple moving objects from video stream on sensor nodes. IFCDO clustering only needs to group inter-frame different pixels, thus it reduces both space and time complexity while achieves robust clusters the same as DBSCAN. Experiment results show IFCDO clustering excels DBSCAN in terms of both time and space efficiency.