Method for generating input data for a
convolutional neural network using at least one camera (3) and at least one area sensor (5, 6), wherein the camera (3) and the area sensor (5, 6) are arranged on the motor vehicle (1) such that the
field of view of the camera (3) and the
field of view of the area sensor (5, 6) overlap at least partially, wherein the method comprises the following steps: - Capturing an
image frame by a camera (3), wherein the
image frame consists of image data for directions relative to the position of the camera (3) and within the
solid angle covered by the camera (3), wherein the directions are represented by coordinates in a camera coordinate
system; - simultaneous acquisition of depth information by the range sensor (5, 6), wherein the depth information consists of depth data for directions relative to the position of the range sensor (5, 6) and within the
solid angle covered by the range sensor (5, 6), wherein the directions are represented by coordinates in a range sensor coordinate
system; - Providing a vehicle coordinate
system that is related to the camera coordinate system and the area sensor coordinate system by appropriate sets of translations and rotations given by the position of the camera (3) and the position of the area sensor (5, 6) relative to the origin of the vehicle coordinate system; and - Transforming the coordinates in the camera coordinate system and the coordinates in the area sensor coordinate system into coordinates in the vehicle coordinate system based on the sets of translations and rotations, thereby obtaining the input data for the
convolutional neural network.