A freespace detection apparatus for a vehicle, comprising: a camera adapted to provide first image data at a first time and second image data at a second time different from said first time; a motion detector adapted to detect motion of said camera, determine a motion vector corresponding to the detected motion of said camera, and assign the determined motion vector to said first image data provided by said camera; a transformation means adapted to transform said provided first and second image data to a configurable preset image plane, and to output transformed first image data and transformed second image data; a motion compensation means adapted to generate motion compensated transformed first image data based on said transformed first image data; a computing means adapted to compute a difference between said motion compensated transformed first image data and said transformed second image data; and a segmentation means adapted to compare the computed difference between the motion compensated transformed first image data and the transformed second image data and to identify an object in said computed difference image data, if the difference exceeds a predetermined threshold, characterized in that said camera comprises a plurality of image capturing means (11-i) for capturing image data covering the environment of the vehicle and said camera being adapted to combine said captured image data from said plurality of image capturing means (11-i) to first or second image data, said motion detector is adapted to determine a motion vector corresponding to the detected motion of said camera, and assign the determined motion vector to said first image data provided by said camera, said transformation means is adapted to transform said provided first and second image data to a configurable preset image plane, and said motion compensation means is adapted to generate motion compensated transformed first image data based on said transformed first image data, said motion vector assigned to said first image data and a time difference between said first time and said second time; wherein said configurable preset image plane is selected out of a set of possible image planes, the set of possible image planes comprising a ground plane, a plane parallel to the ground plane, an image plane which is inclined with respect to the ground plane and/or a plane which is inclined with respect to a plane orthogonal to the detected motion vector of the camera. a camera adapted to provide first image data at a first time and second image data at a second time different from said first time; a motion detector adapted to detect motion of said camera, determine a motion vector corresponding to the detected motion of said camera, and assign the determined motion vector to said first image data provided by said camera; a transformation means adapted to transform said provided first and second image data to a configurable preset image plane, and to output transformed first image data and transformed second image data; a motion compensation means adapted to generate motion compensated transformed first image data based on said transformed first image data; a computing means adapted to compute a difference between said motion compensated transformed first image data and said transformed second image data; and a segmentation means adapted to compare the computed difference between the motion compensated transformed first image data and the transformed second image data and to identify an object in said computed difference image data, if the difference exceeds a predetermined threshold, characterized in that said camera comprises a plurality of image capturing means (11-i) for capturing image data covering the environment of the vehicle and said camera being adapted to combine said captured image data from said plurality of image capturing means (11-i) to first or second image data, said motion detector is adapted to determine a motion vector corresponding to the detected motion of said camera, and assign the determined motion vector to said first image data provided by said camera, said transformation means is adapted to transform said provided first and second image data to a configurable preset image plane, and said motion compensation means is adapted to generate motion compensated transformed first image data based on said transformed first image data, said motion vector assigned to said first image data and a time difference between said first time and said second time; wherein said configurable preset image plane is selected out of a set of possible image planes, the set of possible image planes comprising a ground plane, a plane parallel to the ground plane, an image plane which is inclined with respect to the ground plane and/or a plane which is inclined with respect to a plane orthogonal to the detected motion vector of the camera.