In　this　paper,　a　new　algorithm　of　moving　objects　detection　is　proposed　for　indoor　environment,　which　can　effectively　overcome　light　changing　and　can　better　detect　and　extract　moving　objects　in　indoor　environment.　The　algorithm　first　transforms　images　in　the　form　of　RGB　into　the　form　of　HSI　for　better　image　processing,　and　then　detects　and　extracts　moving　objects　based　on　image　and　distance　information.　One　core　of　the　algorithm　is　effectively　combining　information　of　image　and　distance　during　the　process　of　motion　detection,　which　can　better　overcome　light　changing　in　indoor　environment;　the　other　is　reasonable　using　of　the　background　subtraction　and　the　frame　difference　during　the　process　of　moving　objects　extraction,　so　that　the　moving　objects　can　be　extracted　more　accurately　and　completely.　Experimental　results　have　validated　the　feasibility　and　reliability　of　the　algorithm.　©　2011　IEEE.