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Based on the fact that most of the algorithms assume that the camera is fixed and the changing background is learned in the training period, a robust algorithm is proposed for complex background where a shaking camera, changing background and shadows are presented. It combines a new improved mixture of Gaussians model and a square neighborhood matching algorithm to eliminate shadows and reduce false positive detections caused by camera motion and changing background. Experiments results demonstrate the efficiency and accuracy of this algorithm.doi:10.1109/ramech.2008.4681448 dblp:conf/ram/YuC08 fatcat:7isod6thf5cchl5i3t5ilqaayi