Have you made any progress with this ?
I am just starting a similar journey so looking to leverage up any other peoples effort.
For a video I found https://www.youtube.com/watch?v=zk6CEt8rsdA
which looked about right for a place to start.
Unfortunately the code is old, using Python 2.7, Open CV 2.4
Also I found the code hard to follow without a sense of the steps being undertaken.
Then I stumbled on Adrian Rosebrock's articles at https://www.pyimagesearch.com/
especially https://www.pyimagesearch.com/2015/03/3 ... nd-python/
and https://www.pyimagesearch.com/2015/06/0 ... nd-opencv/
Here the method ie 'Background subtraction' is explained.
Now I just have to find a similar discussion based on 'obstacle detection'