Patent ID: 8548229

Claim:
A method for detecting objects, comprising: obtaining by means of a sensor system a horizontal and vertical distance image of objects in the surroundings of the sensor system, determining a depth map of objects in the surroundings ( 1 ) from the distance image, such that a free space delimiting line ( 2 ) delimiting an unobstructed region of the surroundings ( 1 ) is identified in the distance image, the depth map being segmented outside and along the free space delimiting line ( 1 ) by forming segments ( 3 ) of equal width from pixels having an equal or similar distance from a plane, wherein the height of each segment ( 3 ) is estimated as part of an object ( 4 . 1 to 4 . 6 ) located outside the unobstructed region, so that each segment ( 3 ) is characterized by a two-dimensional position of a base point and by its height.