Abstract: A method for fusion of radar and visual information, the method comprises: obtaining visual information and radar information about a three dimensional (3D) space located within a field of view of a camera that acquired the visual information and within a field of view of a radar that acquired the radar information; finding, based on the visual information, estimated visual-detection-based (VDB) objects and estimated VDB locations of the estimated VDB objects within the 3D space; wherein the estimated VDB locations exhibit a distance ambiguity; determining hybrid-detection-based (HDB) objects and HDB locations of the HDB objects, based on (i) the radar information, (ii) the estimated VDB objects, and (iii) the estimated VDB locations of the VDB objects.

Abstract: A method for context based separation between vehicle pixels and background pixels, which may include receiving a first image and a second image, the first image and the second images are of temporarily adjacent to each other and capture a same vehicle and background content. The method may also include obtaining a first bounding box that surrounds at least a part of the vehicle within the first image; wherein the first bounding has a first width and a first height; obtaining a second bounding box that surrounds at least the part of the vehicle within the second image; wherein the second bounding box has a second width and a second height; obtaining a mapping between pairs of initially matched pixels, wherein each pair comprises a first pixel and a second pixel that correspond to same entity portion, wherein the entity portion is a portion of the vehicle or of the background content.