VEHICULAR VISION SYSTEM WITH OBJECT DETECTION

A method for detecting a vehicle via a vehicular vision system includes equipping a vehicle with a camera and providing a control at the equipped vehicle. Frames of image data captured by the camera are processed via an image processor of the control. Responsive at least in part to (i) vehicle motion information of the equipped vehicle and (ii) processing at the control of frames of image data captured by the camera, an object present in the field of view of the camera is detected and motion of the detected vehicle relative to the moving equipped vehicle is determined. The motion of the detected object relative to the moving equipped vehicle is determined by (i) determining corresponding feature points of the detected object in at least two frames of captured image data and (ii) estimating object motion trajectory of the detected object based on the determined corresponding feature points.