1. A system for detecting moving objects using multi-frame motion history images, the system comprising: one or more processors and a non-transitory computer-readable medium having instructions encoded thereon such that when the instructions are executed, the one or more processors perform operations of: receiving an input video sequence of consecutive registered image frames, wherein the sequence of consecutive registered image frames comprises forward and backward registered image frames registered to a coordinate system of a reference image frame; computing frame differences between each of the consecutive registered image frames and the reference image frame; accumulating the frame differences based on characteristics of the input video sequence to compute a corresponding motion response value; and applying a selected threshold value to the motion response value to produce at least one binary image used for detection of moving objects in the input video sequence, wherein the one or more processors further perform operations of: accumulating absolute values of the frame differences to generate the motion response value; and applying the selected threshold to the motion response value according to the following: 
 D=Th[Σ i=0 2 k abs( F k −F i )], where Th denotes threshold, Σ represents a summation, 2 k is the total number of registered image frames registered to the coordinate system of the reference image frame, abs represents absolute value, F k represents the reference image frame, and F i represents a registered image frame.