Enhancemend of moving object extraction using 6D information

The driving support is one of the most important research areas in intelligent transport system (ITS). Moreover, obstacle extraction system is one of most important system, and we have proposed such system based on stereovision system. In our previous report, we proposed moving objects extraction method based on Occupancy Grid Maps. However, there is a problem that it is difficult to cluster each object if stationary and moving objects are closely located. Therefore, in this paper, we propose a method to solve such problem based on 6D information, which estimate both three-dimensional position and velocity.