A motion detection method for determining a moving object or objects comprising: acquiring detection information of 3 background scene and detection information of a current scene, wherein the current scene is a scene comprising an object or objects to be detected and the same background scene; calculating the object or objects to be detected according to the detection information of the background scene and the detection information of the current scene; wherein the detection information is a disparity image or a depth image, and obtaining the object to be detected further comprises: acquiring peak points of a horizontal projection and a vertical projection respectively of the object disparity/depth image wherein the object disparity/ depth image is calculated according to the detection information of the background scene and the detection information of the current scene; pairing the peak points of the horizontal projection and those of the vertical projection in one-to-one correspondence to determine an initial object or objects to be detected; determining a valid object or objects to be detected by removing false objects from the initial object or objects to be detected according to a falseness-removing strategy, with the valid object or objects to be detected as the moving object or objects. acquiring detection information of 3 background scene and detection information of a current scene, wherein the current scene is a scene comprising an object or objects to be detected and the same background scene; calculating the object or objects to be detected according to the detection information of the background scene and the detection information of the current scene; wherein the detection information is a disparity image or a depth image, and obtaining the object to be detected further comprises: acquiring peak points of a horizontal projection and a vertical projection respectively of the object disparity/depth image wherein the object disparity/ depth image is calculated according to the detection information of the background scene and the detection information of the current scene; pairing the peak points of the horizontal projection and those of the vertical projection in one-to-one correspondence to determine an initial object or objects to be detected; determining a valid object or objects to be detected by removing false objects from the initial object or objects to be detected according to a falseness-removing strategy, with the valid object or objects to be detected as the moving object or objects. acquiring peak points of a horizontal projection and a vertical projection respectively of the object disparity/depth image wherein the object disparity/ depth image is calculated according to the detection information of the background scene and the detection information of the current scene; pairing the peak points of the horizontal projection and those of the vertical projection in one-to-one correspondence to determine an initial object or objects to be detected; determining a valid object or objects to be detected by removing false objects from the initial object or objects to be detected according to a falseness-removing strategy, with the valid object or objects to be detected as the moving object or objects.