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In this paper, we present a system capable of detecting and tracking on-road objects in the scene, in particular vehicles. Such a system is a useful part of a driver assistance system. This system employs two different techniques in the detection phase to increase the robustness. A large part of this paper is devoted to reducing the computational amount required of the overall algorithm by quickly excluding pixels above the horizon and on the road surface. The number of pixels that requiredoi:10.1109/ivs.2007.4290150 fatcat:ftw24vwbwfbjljygkltcszmstu