Advanced driver-assistance system

A system for driving assistance, comprising:

• an image capture device configured to capture image data relative to an outward view from a motor vehicle;
• and
• a processor configured to detect and localize objects, in a real-world map space, from the image data using a trainable object localization Convolutional Neural Network (CNN),
• wherein the CNN is trained to detect and localize the objects from image and radar pairs that include the image data and radar data for different driving scenes of a natural driving environment, and
• wherein the processor is further configured to provide a user-perceptible object detection result to a user of the motor vehicle;
• wherein the processor is configured to train the CNN to detect and localize the objects also from image and object location list pairs that include (i) the image data or other image data and (ii) objection location data for objects including and other than vehicles.