1. A method of a mobile platform detecting and tracking moving objects, comprising: acquiring a three-dimensional (3D) image of an environment in which the mobile platform moves; extracting and removing, using a processor, a floor plane from the 3D image; individually separating, using the processor, objects from the 3D image with the floor plane removed; estimating movement of the respective separated objects; and registering the respective separated objects as formal dynamic objects when a predetermined condition is satisfied, wherein the predetermined condition entails a covariance value being less than a predetermined critical value.