| 摘要 |
The invention proposes a method for detecting dynamic objects in the scene in a driver assistance system of a vehicle, comprising the steps of: feeding signals from sensors (internal sensors, 3D sensors, cameras) of the vehicle to the driver assistance system, generation of a surrounding model using 3D world positions based on the sensor signals and, combination of 3D Warping-based approaches and optical flow based approaches, whose gained novel key points are: a) Restriction of the search space of an optical flow method based on the computation results of the 3D warping method, b) Additionally, to a) also an optimal parameterization of the optical flow approach in terms of search direction, amplitude, etc., c) Refinement and verification of the detection results of one of the methods based on the computation results of the other method (if both approaches are running in parallel), storing the detected dynamic objects and their measured motion parameters for their use in, e.g. a collision avoidance or path planning system.
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