A vision system for a motor vehicle, comprising an imaging means adapted to gather images from a region surrounding the motor vehicle, an electronic processing means adapted to perform image processing of images gathered by said imaging means and initiate a safety action based on the result of said image processing, a data storage means, and an on-board electronic control unit, wherein said electronic processing means and said data storage means are realized in said on-board electronic control unit, wherein said electronic processing means comprises a detection and estimation means adapted to detect an object in the surrounding of the motor vehicle through said image processing and to estimate whether a detected object is a positive object requiring a safety action, characterized in that said electronic processing means comprises a false positive analysis means adapted to perform an analysis to determine whether an object has been falsely estimated as a positive object by the detection and estimation means, to store data depending on the result of the false positive analysis in said data storage means, and to use said stored data in said detection and estimation means for future object detection and estimation, wherein a prevention of false positive detections is realized by a comparison performed in said detection and estimation means between said data stored in said storage means and corresponding data of a currently detected object, wherein said comparison is based on one or more of - comparing feature vectors of said currently detected object and said object for which data are stored in said storage means; - comparing weather conditions at the time of detecting said currently detected object to the weather conditions at the time of detecting an object for which data is stored in said storage means; - comparing the image information of said currently detected object and said object for which data are stored in said storage means; - comparing the estimated position of said currently detected object and said object for which data are stored in said storage means; comparing the estimated pose of said currently detected object and said object for which data are stored in said storage means; - comparing the estimated appearance of said currently detected object and said object for which data are stored in said storage means; and/or - comparing the estimated motion of said currently detected object and said object for which data are stored in said storage means. - comparing feature vectors of said currently detected object and said object for which data are stored in said storage means; - comparing weather conditions at the time of detecting said currently detected object to the weather conditions at the time of detecting an object for which data is stored in said storage means; - comparing the image information of said currently detected object and said object for which data are stored in said storage means; - comparing the estimated position of said currently detected object and said object for which data are stored in said storage means; comparing the estimated pose of said currently detected object and said object for which data are stored in said storage means; - comparing the estimated appearance of said currently detected object and said object for which data are stored in said storage means; and/or - comparing the estimated motion of said currently detected object and said object for which data are stored in said storage means.