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This paper proposes a robust rear-view camera based moving object detection algorithm for backup aid and parking assist applications. A single fish-eye camera is used in order to get much larger FOV (field of view) for object detection. To detect various moving objects such as vehicles and pedestrians, the ego-motion of host vehicle is firstly estimated by A robust NGPP (near ground point projection) method. Then a novel point based moving object detection method is proposed which can detect fast motion as well as slight motion in the fish-eye image. Finally, a region based motion compensation method is used in order to filter out the false detection results caused by the error matching points. Experimental results under various conditions show that most of moving objects can be detected correctly by our algorithm.