System and method for detecting moving obstacles based on sensory prediction from ego-motion

A computer program product for detecting moving objects, the computer program product comprising:

• a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions by one or more processors, the one or more processors perform operations of:
• obtaining ego-motion velocity data of a moving platform;
• generating a predicted image of a scene proximate the moving platform by projecting three-dimensional (3D) data into an image plane based on pixel values of the scene;
• generating a contrast image based on a difference between the predicted image and an actual image taken at a next step in time;
• generating an actionable prediction map based on the contrast mage;
• and
• detecting one or more moving objects based on the actionable prediction map.

A method for detecting moving objects, the method comprising an act of:

• causing one or more processers to execute instructions encoded on a non-transitory computer-readable medium, such that upon execution, the one or more processors perform operations of:
• obtaining ego-motion velocity data of a moving platform;
• generating a predicted image of a scene proximate the moving platform by projecting three-dimensional (3D) data into an image plane based on pixel values of the scene;
• generating a contrast image based on a difference between the predicted image and an actual image taken at a next step in time;
• generating an actionable prediction map based on the contrast mage;
• and
• detecting one or more moving objects based on the actionable prediction map.