A method of detecting a wanted moving object in a sequence of images captured by an image sensor, the method comprising: - obtaining information about a bounding rectangle of a moving object in the sequence of images and a contour area of the moving object; - determining (11, 51) geometrical coefficients for the moving object using the information about the bounding rectangle and the contour area of the moving object; characterized in that, the step of determining geometrical coefficients (11, 51) for the moving object includes determining an area coefficient c rect, which is determined from a height and a width of the bounding rectangle and the contour area of the moving object and an orientation coefficient being dependent on the height to width ratio of the bounding rectangle, wherein the step of determining said area coefficient c rect further includes a step of unifying, the geometrical parameters bounding rectangle area, contour area and orientation coefficient to a scalar value, namely said area coefficient c rect being calculated according to the formula c rect = A obj ⋅ k ⋅ h 2 + 2 ⋅ h ⋅ w + w 2 4 ⋅ h ⋅ w, where A obj is the object contour area, h and w are the height and the width of the bounding rectangle, respectively, and k is said orientation coefficient, and wherein the step of determining geometrical coefficients further includes determining an extent coefficient e according to the formula e = A obj A rect, where A obj is the object contour area and A rect is the bounding rectangle area, - determining (12, 55) further object coefficients, margin crossing S cross representing moving objects whose body is fully located in the image, brightness coefficient C bright, representing the presence of lighting spots on objects and object number C number; - determining the status true or false of each object coefficient margin crossing S cross, area coefficient C rect, extent coefficient e, brightness coefficient C bright, and object number C number, by comparing each object coefficient with a respective threshold; - determining (12, 55) whether the moving object is a wanted moving object based on the status of the object coefficients, margin crossing S cross, area coefficient C rect, extent coefficient e, brightness coefficient C bright, and object number C number; where the object is considered to be a wanted object when all its object coefficients margin crossing S cross, area coefficient C rect, extent coefficient e, brightness coefficient C bright, and object number C number have the status true. - obtaining information about a bounding rectangle of a moving object in the sequence of images and a contour area of the moving object; - determining (11, 51) geometrical coefficients for the moving object using the information about the bounding rectangle and the contour area of the moving object; characterized in that, the step of determining geometrical coefficients (11, 51) for the moving object includes determining an area coefficient c rect, which is determined from a height and a width of the bounding rectangle and the contour area of the moving object and an orientation coefficient being dependent on the height to width ratio of the bounding rectangle, wherein the step of determining said area coefficient c rect further includes a step of unifying, the geometrical parameters bounding rectangle area, contour area and orientation coefficient to a scalar value, namely said area coefficient c rect being calculated according to the formula c rect = A obj ⋅ k ⋅ h 2 + 2 ⋅ h ⋅ w + w 2 4 ⋅ h ⋅ w, where A obj is the object contour area, h and w are the height and the width of the bounding rectangle, respectively, and k is said orientation coefficient, and wherein the step of determining geometrical coefficients further includes determining an extent coefficient e according to the formula e = A obj A rect, where A obj is the object contour area and A rect is the bounding rectangle area, where A obj is the object contour area, h and w are the height and the width of the bounding rectangle, respectively, and k is said orientation coefficient, and wherein the step of determining geometrical coefficients further includes determining an extent coefficient e according to the formula e = A obj A rect, where A obj is the object contour area and A rect is the bounding rectangle area, - determining (12, 55) further object coefficients, margin crossing S cross representing moving objects whose body is fully located in the image, brightness coefficient C bright, representing the presence of lighting spots on objects and object number C number; - determining the status true or false of each object coefficient margin crossing S cross, area coefficient C rect, extent coefficient e, brightness coefficient C bright, and object number C number, by comparing each object coefficient with a respective threshold; - determining (12, 55) whether the moving object is a wanted moving object based on the status of the object coefficients, margin crossing S cross, area coefficient C rect, extent coefficient e, brightness coefficient C bright, and object number C number; where the object is considered to be a wanted object when all its object coefficients margin crossing S cross, area coefficient C rect, extent coefficient e, brightness coefficient C bright, and object number C number have the status true.