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This paper proposed a method for discriminating pedestrians from rigid objects in a video. The methodis a motion-based recognition of moving objects. This method is motivated by the assumptions that human beings are non-rigid and their movements are periodic. Moving objects and their skeletons are extracted. The motion cue is determined by the angle formed by the centroid point and the two bottom end points at object’s skeleton. The histogram of the cue over a time period is used to determine if the object is pedestrian or not. This cue does not require any pre-built models. Neither does it need Fourier Transform to obtain the cycle of the objects. The proposed method is computation inexpensive, and it can be used for realtime video surveillance.