Obect Detection can also be done by utilizing Deep Neural Networks (DNN) or other machine learning algorithms. 

In the following, we trained a DNN to detect different static objects (signs, etc.).

Modellbasierte Objektdetektion

Afterwards, the 2D detections  are tracked through recursive Bayesian filtering in the 3D-space.

These 3D-objects can be used for landmark-based navigation.

Detect-track-map