1. A system for detecting moving objects from a mobile vehicle, the system comprising: an imaging camera; a navigation unit including at least an inertial measurement unit; and a computer system coupled to the image camera and the navigation unit; wherein the computer system executes an airborne object detection process algorithm, and calculates a transformation between two or more image frames captured by the imaging camera using navigation information associated with each of the two or more image frames to generate a motion compensated background image sequence; wherein the computer system detects moving objects from the motion compensated background image sequence; wherein the computer systems reprojects at least one image frame of the two or more images frames into a target image frame selected from the two or more image frames; and wherein the computer system outputs a state vector for each moving object identified from the motion compensated background image sequence, wherein the state vector describes at least an estimated position.