1. A vehicle obstacle detection system comprising: an imaging system for capturing objects in a field of view; a radar device for sensing objects in a substantially same field of view, the substantially same field of view being partitioned into an occupancy grid having a plurality of observation cells, the occupancy grid partitioned angularly and radially to form the plurality of observation cells; a fusion module for receiving radar data from the radar device and imaging data from the imaging system, the fusion module projecting the occupancy grid and associated radar data onto the captured image, the fusion module extracting features from each corresponding cell using sensor data from the radar device and imaging data from the imaging system a primary classifier for determining whether an extracted feature extracted from a respective observation cell is an obstacle; and at least one secondary classifier for classifying obstacles exterior of the vehicle, wherein weighting is applied to an output of the primary classifier and outputs of the at least one secondary classifier, wherein the weighted output of the primary classifier and the weighted output of the at least one secondary classifier are used to cooperatively identify obstacles in the field of view.