Method for capturing an object in an environmental region of a motor vehicle with prediction of the movement of the object, camera system as well as motor vehicle

A method for capturing an object in an environmental region of a motor vehicle based on a sequence of images of the environmental region, which are provided by means of a camera of the motor vehicle, comprising:

• recognizing a first object feature in a first image of the sequence, wherein the first object feature describes at least a part of the object in the environmental region;
• estimating a position of the object in the environmental region based on a predetermined movement model, which describes a movement of the object in the environmental region;
• determining a prediction feature in a second image following the first image in the sequence based on the first object feature and based on the estimated position;
• determining a second object feature in the second image;
• associating the second object feature with the prediction feature in the second image if a predetermined association criterion is satisfied;
• confirming the second object feature as originating from the object if the second object feature is associated with the prediction feature,
• wherein an association probability between the second object feature and the prediction feature is determined and the predetermined association criterion is deemed as satisfied if the association probability exceeds a predetermined value;
• and
• determining an object position in the environmental region based on the second object feature, determining a prediction position in the environmental region based on the prediction feature, determining a spatial similarity between the object position and the prediction position, and determining a current position of the object in the environmental region based on the association probability and the spatial similarity.