Systems and methods for detecting an object

This invention describes a system for a vehicle to detect objects in front of it using a camera. It works by taking two images, comparing them to see how pixels have moved, and then identifying a group of pixels that appear to be expanding from a common point at a consistent rate. This specific pattern helps the system recognize an upright object. The claims narrow this down to specifically detecting a 'crossing object' that appears to stay fixed on the horizontal axis of the camera's view while expanding in size, indicating it has a low time to collision.