A range map of a visual scene generated by a stereo vision and associate image processing system, and is filtered to remove objects beyond a region of interest and for which a collision is not possible, and to remove an associated road surface. Objects clustered in range bins are separated by segmentation. A composite range map is generated using principale components analysis and processed with a connected-components sieve filter. Objects are identified using one or more of a harmonic profile and other features using an object recognition processor using a combination of inclusive, exclusive and harmonic networks to generate a classification metric.