SYSTEM AND METHOD FOR DETECTING MOVING OBSTACLES BASED ON SENSORY PREDICTION FROM EGO-MOTION

Described is a system for detecting moving objects. During operation, the system obtains ego-motion velocity data of a moving platform and generates 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. A contrast image is generated based on a difference between the predicted image and an actual image taken at a next step in time. Next, an actionable prediction map is then generated based on the contrast mage. Finally, one or more moving objects may be detected based on the actionable prediction map.