Image processing systems can include one or more cameras configured to obtain image data, one or more memory devices configured to store a classification model that classifies image features within the image data as including or not including detected objects, and a field programmable gate array (FPGA) device coupled to the one or more cameras. The FPGA device is configured to implement one or more image processing pipelines for image transformation and object detection. The one or more image processing pipelines can generate a multi-scale image pyramid of multiple image samples having different scaling factors, identify and aggregate features within one or more of the multiple image samples having different scaling factors, access the classification model, provide the features as input to the classification model, and receive an output indicative of objects detected within the image data.