Patent ID: 8379928

Claim:
An obstacle detection procedure (O) within an environment (E) of a motor vehicle, featuring the fact that it involves the following stages: defining at least one first region of interest (ROI 1 ) by carrying out a first detection of an obstacle (O) by shape recognition in an acquired image ( 1 ) of this environment (E); defining at least one second region of interest (ROI 2 ) by carrying out a second detection of an obstacle by movement detection in relation to the vehicle (V) on a sequence of acquired images (I) of this environment (E); classifying the obstacle (O) detected with, respectively, a first (IC 1 ) and second (IC 2 ) index of confidence applied to the first (ROI 1 ) and the second (ROI 2 ) regions of interest in relation to given characteristics (C); validating the classification of the detected object (O) in relation to these indices of confidence (IC 1 , IC 2 ) and in relation to these regions of interest (ROI 1 , ROI 2 ) resulting in validated regions of interest (ROI 1 , ROI 2 ); carrying out a third obstacle detection (O) by sensor/s (ULS; RAD) with detection range below a first threshold (S 1 ) resulting in a determined position (POS); projecting the determined position (POS) in a reference marker (COORef); projecting the validated regions of interest (ROI 1 , ROI 2 ) in this reference marker (COORef); and aligning the two projections obtained (PJ 1 , PJ 2 ) and attributing a determined position (POS) to the classified obstacle (O) in accordance with the alignment.