Method of obstacle detection for a vehicle

The procedure involves carrying out detection of an obstacle i.e. pedestrian, by image processing resulting in a definition of a region of interest. The obstacle is classified with an index of confidence applied to the region of interest in relation to desired characteristics. Another detection of obstacle is carried out by a set of sensors with a detection range below a threshold. A position and the region of interest are projected in a reference marker i.e. image marker. A pair of projections is aligned. The position is attributed to the obstacle in accordance with the alignment. Independent claims are also included for the following: (1) a computer program product storing a computer program comprising a set of instructions for detecting an obstacle (2) an obstacle detection system for an environment of a motor vehicle, comprising an image system for carrying out an obstacle detection.