A maximum hypersphere is created in the feature space according to support vectors, wherein the support vectors are one or more feature vectors in a feature space. A center of the created maximum hypersphere is calculated according to the support vector(s). A decision hyper sphere is created with the same center as the calculated center of the created maximum hypersphere. Feature vector(s) are classified within the decision hypersphere, as positive feature vector(s). False positive rate is kept to a predetermined level to provide effective object detection.