Methods, systems, and apparatus for a detection system. The detection system includes a memory configured to store image data and a first camera configured to capture first image data including a first set of objects in the environment when the vehicle is moving. The electronic control unit is configured to obtain, from the first camera, the first image data including the first set of objects, determine a motion of an object of the first set of objects based on the first image data, and determine that the motion of the object will be different than a baseline motion for the object. The electronic control unit is configured to record and capture, in the memory and using the camera, the first image data for a time period before and after the determination that the motion of the object will be different than the baseline motion.