Abstract: A method of and a system for scanning a scene for the purpose of classifying a plurality of moving objects located in the scene and having an average distance between them, including the steps of performing a sweep of the scene, during the sweep, producing a multiplicity of detections of at least one portion of the scene at a rate such that a distance traveled by the moving objects between detections is small with respect to the average distance, and calculating, from the multiple detections, two-dimensional motion information for at least some of the moving objects.