In this work we present a method for optical flow based background subtraction from a single moving camera with application to autonomous driving. Without the use of any other sensor or processing, the method detects the vast majority of the moving entities in the environment. The electric bus is a product of Proterra Inc (https://www.proterra.com/) and used by RTC (http://www.rtcwashoe.com/). The work is part of the Intelligent Mobility Project coordinated by the University of Nevada, Reno and the Nevada Center of Applied Research (NCAR).
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