A computer-implemented method for classifying a type of a moving object (104, 106, 108, 110) within a scene, the moving object being one of a plurality of different types of predetermined objects, the method comprising: - receiving an image stream comprising a plurality of images from a first and a second camera arranged in an elevated position as to a ground level within the scene, wherein each of the first and the second camera is arranged to capture a predetermined spatially separated corresponding image of the scene together forming a pair of images, each of the pair of images being a captured representation of the scene, wherein the content of the scene comprises at least one physical foreground object and a physical background; - processing the pair of images to produce, for each pair of images, a depth map; - forming a height map for each pair of images using a predetermined model of the background and the corresponding depth map, the background model defining the scene when no physical foreground objects are present; - extracting the at least one physical foreground object from each pair of images using the corresponding height map; - determining, for each pair of images, a relative position of the at least one physical foreground object within the scene using the height map, the relative position being relative to a plurality of predetermined points within the scene; - determining a first probability level for the type of the at least one foreground object within each pair of images by matching the at least one extracted physical foreground object with a predetermined set of different object types, wherein each object type within the set has a length, a height and a width being within a predetermined range; - determining a second probability level for the type of the at least one foreground object by determining a difference in the relative position of the at least one foreground object in at least two images of the plurality of images, converting the difference in relative position to a relative speed for the at least one foreground object, and matching the relative speed with speed profiles for the predetermined set of different object types; and - combining the first and the second probability level to define the type of the at least one foreground object. - receiving an image stream comprising a plurality of images from a first and a second camera arranged in an elevated position as to a ground level within the scene, wherein each of the first and the second camera is arranged to capture a predetermined spatially separated corresponding image of the scene together forming a pair of images, each of the pair of images being a captured representation of the scene, wherein the content of the scene comprises at least one physical foreground object and a physical background; - processing the pair of images to produce, for each pair of images, a depth map; - forming a height map for each pair of images using a predetermined model of the background and the corresponding depth map, the background model defining the scene when no physical foreground objects are present; - extracting the at least one physical foreground object from each pair of images using the corresponding height map; - determining, for each pair of images, a relative position of the at least one physical foreground object within the scene using the height map, the relative position being relative to a plurality of predetermined points within the scene; - determining a first probability level for the type of the at least one foreground object within each pair of images by matching the at least one extracted physical foreground object with a predetermined set of different object types, wherein each object type within the set has a length, a height and a width being within a predetermined range; - determining a second probability level for the type of the at least one foreground object by determining a difference in the relative position of the at least one foreground object in at least two images of the plurality of images, converting the difference in relative position to a relative speed for the at least one foreground object, and matching the relative speed with speed profiles for the predetermined set of different object types; and - combining the first and the second probability level to define the type of the at least one foreground object.