Use media upload in wordpress frontend.

use-media-upload-in-wordpress-frontend.php

<form method="post" action="#" enctype="multipart/form-data" >
      <input type="file" name="featured_image">
 </form>

<?php
function insert_attachment($file_handler,$post_id,$setthumb='false') {

  // check to make sure its a successful upload
  if ($_FILES[$file_handler]['error'] !== UPLOAD_ERR_OK) __return_false();

  require_once(ABSPATH . "wp-admin" . '/includes/image.php');
  require_once(ABSPATH . "wp-admin" . '/includes/file.php');
  require_once(ABSPATH . "wp-admin" . '/includes/media.php');

  $attach_id = media_handle_upload( $file_handler, $post_id );

  if ($setthumb) update_post_meta($post_id,'_thumbnail_id',$attach_id);
 return $attach_id;
}