the three-dimensional model only from discrete positions during a still stand
to avoid vibrations of the cameras. During the motion the sensor system is
used as an optical bumper scanning the free space in front of the vehicle for
obstacles. The other possible behavior is shown in this MPEG -video,
where the optical bumper was switched off. A moving object occluded the
planned path and caused a collision. The vehicle moves back several
centimeters to inspect the unexpected obstacle.