Fusion of far infrared and visible images in enhanced obstacle detection in automotive applications

A method performable by a computerized system mountable on a vehicle, wherein the system includes a first camera and a second camera connectible to a processor, the method comprising:

• first capturing a plurality of first image frames from the first camera;
• second capturing a plurality of second image frames from the second camera;
• detecting said object by processing said first image frames thereby producing a detected object;
• first determining a first range to said detected object using said first image frames;
• projecting an image location of said detected object in at least one of said first image frames onto an image location in at least one of said second image frames;
• second determining a second range from the vehicle to said detected object based on both said first image frames and said second image frames;
• and
• tracking said detected object in both said first image frames and second image frames and when said detected object leaves a field of view of the first camera, third determining a third range to said detected object responsive to said second range and said second image frames.