抄録
The driving support is one of the most important research areas in intelligent transport system (ITS). Moreover, obstacle detection system is one of most important system, and we have proposed such system based on stereovision system. Additionally, to assist driving safely, it is necessary to extract dynamic objects and alert driver more fastly. In our previous report, we proposed dynamic objects extraction method based on Occupancy Grid Maps. However we found that the method suffers from the disadvantage of instable detection for dynamic objects. So, in this paper, we propose the method to analyze motion of objects used 6D information comprised of 3D position and motion of objects and extract the dynamic objects fastly based on Occupancy Grid Maps.
