the imagers 12 and 14 are each in communication with both a two dimensional information processing algorithm 20 and a three dimensional information processing algorithm 22 the first imager 12 provides two dimensional image information to a scene classification and understanding algorithm 42 the scene classification and understanding algorithm 42 may for example determine the type of object such as a car motorcycle or truck based on the size and shape of the object in the two dimensional image the information from the scene classification and understanding algorithm 42 is provided to a ranging and trajectory algorithm 44 the ranging and trajectory algorithm 44 may determine the range and trajectory of objects identified in the scene classification and understanding algorithm 42 the range and trajectory of the objects may be determined based on the size shape and position of the object and further may be determined based on the size shape and position change over multiple images the range and trajectory information from the ranging and trajectory algorithm 44 is provided to a collision decision algorithm 46 the collision decision algorithm 46 determines whether the objects will collide with the vehicle based on the ranging and trajectory information in addition the collision decision algorithm 46 may also consider other vehicle information in determining the likelihood of a collision with the host vehicle similarly.