1. A method comprising: a) determining a disparity map based on a first image and a second image, the disparity map containing a first disparity value of a pixel representing a stationary object in the first image and the second image; b) comparing a first predetermined kernel image to an area portion of the disparity map including the first disparity value, the first kernel image containing at least one first disparity value representing a first object; and c) computing a score based on the comparison of the first kernel image and the area portion.