1. A method to detect an obstacle in a field of view, comprising: performing a dynamic mask (DMA) operation to detect an obstacle that includes generating a dynamic mask and comparing a dynamic mask width with a predetermined value; alternating between performing the DMA operation to performing a histogram intensity switching (HIS) operation in response to the dynamic mask width being greater than the predetermined value; performing the HIS operation for a predetermined number of iterations; performing the HIS operation and the DMA operation for one additional iteration each following the performance of the HIS operation for the predetermined number of iterations; and performing an obstacle avoidance maneuver in response to the dynamic mask width being greater than the predetermined value.