A method of detecting at least one potential object, the method comprising: obtaining information regarding potential objects from a detector provided on a vehicle , the detector comprising one of a radar detector or a LIDAR detector, the detector having a field of view that at least partially overlaps with a field of view of a camera of the vehicle, and the information being data points corresponding to potential objects in the field of view of the camera ; recognizing clustered data points from the detector that corresponds to a potential object location within the field of view of the camera based on the obtained information from the detector ; receiving an image from the camera different than the detector ; selecting a portion of the image that corresponds to the potential object location; performing an objectness determination only on the selected portion of the image to determine an objectness of the selected portion and refraining from performing the objectness determination on portions of the image other than the selected portion by ignoring the portions of the image other than the selected portion ; and detecting the at least one potential object within the selected portion based on the determined objectness, characterized in that the performing the objectness determination only on the selected portion comprises: dividing up the selected portion into segments (140-146); and performing an objectness determination on each of the segments (140-146); further comprising ranking the objectness of each of the segments (140-146) based on the respective determined objectnesses of the segments (140-146) and detecting the at least one potential object based on a highest ranking objectness. obtaining information regarding potential objects from a detector provided on a vehicle , the detector comprising one of a radar detector or a LIDAR detector, the detector having a field of view that at least partially overlaps with a field of view of a camera of the vehicle, and the information being data points corresponding to potential objects in the field of view of the camera ; recognizing clustered data points from the detector that corresponds to a potential object location within the field of view of the camera based on the obtained information from the detector ; receiving an image from the camera different than the detector ; selecting a portion of the image that corresponds to the potential object location; performing an objectness determination only on the selected portion of the image to determine an objectness of the selected portion and refraining from performing the objectness determination on portions of the image other than the selected portion by ignoring the portions of the image other than the selected portion ; and detecting the at least one potential object within the selected portion based on the determined objectness, characterized in that the performing the objectness determination only on the selected portion comprises: dividing up the selected portion into segments (140-146); and performing an objectness determination on each of the segments (140-146); further comprising ranking the objectness of each of the segments (140-146) based on the respective determined objectnesses of the segments (140-146) and detecting the at least one potential object based on a highest ranking objectness. dividing up the selected portion into segments (140-146); and performing an objectness determination on each of the segments (140-146); further comprising ranking the objectness of each of the segments (140-146) based on the respective determined objectnesses of the segments (140-146) and detecting the at least one potential object based on a highest ranking objectness. <EOS>