<P>PROBLEM TO BE SOLVED: To provide an adaptive driver assistance system with efficient estimation of scene properties. <P>SOLUTION: A computer-implemented method for estimating properties of objects in digital images includes the steps of: encoding input data from a sensor in a neural map comprising neurons having numerical activation values, wherein the activation values in the neural maps have continuous time dynamics defined by an update scheme; creating, adapting and deleting weights of the neural map in unsupervised, incremental manner; transmitting data from an input map to an output map, based on the values of the weights, wherein each weight between the input map (IM) and a neural output map (OM) has a unique source and destination neuron, and wherein data transmission is directed; and detecting correlations between the input map (IM) and the output map (OM). <P>COPYRIGHT: (C)2009,JPO&INPIT 
ADAPTIVE DRIVER ASSISTANCE SYSTEM WITH ROBUST ESTIMATION OF OBJECT PROPERTIES