Object detection using candidate object alignment

A method for classifying an object in the field of view of a camera, wherein a processor is configured to capture a plurality of image frames from the camera, the method comprising:

• detecting a candidate image in the image frames;
• determining alignment of said candidate image relative to at least one previously known training image by inputting the candidate image into a trained alignment classifier and outputting a plurality of alignment variables therefrom associated with the candidate image by performing a separate regression for each of said alignment variables;
• inputting the candidate image and said alignment variables into a trained object classifier;
• and
• classifying the object by the trained object classifier responsive to said alignment variables.