Abstract
Abstract This article is the improvement of the author’s previous work which considered position and size estimation of steady ground obstacles applying disc projection model and a constant velocity straight trajectory assumption. In case of square objects (trucks, buildings) the disc projection model can be a very rough approximation and so its improvement is required. This paper presents a method to estimate the orientation of the square object and applies a line projection model which gives more precise size and position estimates. The formulas of the previous work were also improved to consider non-constant velocity non-straight trajectories but tested only with constant velocity and straight trajectory assumptions to first prove applicability in a simpler case and because of the limited length of the paper.
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