Patent ID: 8233660

Claim:
A method for detecting dynamic objects in 3D scene representation of a driver assistance system for a vehicle, the method involving working with 3D data in every method step, the method comprising the steps of: supplying signals from internal and external sensors of a vehicle, wherein at least one external sensor is a 3D sensor supplying 3D data, wherein the at least one external sensor supplies data from a vehicle environment and at least one internal sensor provides data from the vehicle; generating a 3D scene model based on the supplied 3D data, wherein every sensed object in the 3D scene model is represented in a 3D space as an object in 3D world coordinates of the 3D space, a depth of the 3D space being one dimensional; creating a predicted 3D scene model by predicting 3D positions of all objects in the 3D scene model in the 3D world coordinates taking into account a measured ego motion of the vehicle; detecting locations of dynamic objects in the represented 3D scene as well as motion parameters thereof, respectively, expressed in the 3D world coordinates, by calculating a residuum between the predicted 3D scene model and the 3D scene model in the 3D world coordinates using a 3D distance metric; and storing the detected dynamic objects and the motion parameters thereof.