G PHYSICS
G06 COMPUTING; CALCULATING OR COUNTING
G06V IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
G06V20/00 Scenes; Scene-specific elements
G06V20/50 Context or environment of the image
G06V20/56 exterior to a vehicle by using sensors mounted on the vehicle
G06V20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads