SYSTEM AND METHOD FOR DETECTING OBJECT MOVEMENT BASED ON MULTIPLE THREE-DIMENSIONAL WARPING AND VEHICLE HAVING SYSTEM

摘要

PROBLEM TO BE SOLVED: To provide an effective approach for detecting a dynamic object in a signal that expresses an environment ("scene") of a vehicle.

SOLUTION: Included are: a step for supplying signals from an internal sensor of a vehicle and external sensors at least one of which is a three-dimensional sensor; the step for generating a scene model in three-dimensional world coordinates based on the external-sensor signal supplied; the step for predicting a scene model in the three-dimensional world coordinates taking a self-movement of a vehicle measured into account; the step for, in order to detect a position of a dynamic object in a scene expression expressed in the three-dimensional coordinates and a movement parameter of the dynamic object, comparing the predicted scene model with the scene model in the three-dimensional world coordinates based on the external-sensor signal; and the step for storing a detected dynamic object and the movement parameter of the dynamic object.

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