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The detection of objects in the surrounding environment is a key functionality for every Advanced Driver Assistance System (ADAS). Otherwise, it is impossible to realize any kind of advanced assistance functionality as e.g. a Forward Collision Warning. Besides static obstacles that limit the drivable area, dynamic objects can even be more dangerous due to their ego-movement. Therefore, a detection and also motion estimation of moving objects in the surrounding is essential for every ADAS. In this contribution we present a novel way to detect moving objects only with 3D-measurements of the current surrounding environment that we called 3D-Warping. But we are not only able to detect but also to provide the direction and speed of moving objects in world coordinates. The method is generic and can be applied on any kind of depth sensor, as e.g. a stereo-camera, time-of-flight, and 3D-laser scanner.