1. A method performed by at least one device for detecting one or more objects within an image, the method comprising: comparing first information about respective depths of pixel coordinates within the image against second information about respective depths of the pixel coordinates within a ground plane; in response to the comparing, generating respective markings of the pixel coordinates to identify whether any one or more of the pixel coordinates within the image has significant protrusion from the ground plane; in response to a particular depth of a representative pixel coordinate within the image, identifying a window of pixel coordinates that is formed by different pixel coordinates and the representative pixel coordinate; in response to the respective markings, computing respective probabilities for the pixel coordinates, so that the respective probability for the representative pixel coordinate is computed in response to the respective markings of all pixel coordinates within the window; and in response to the respective probabilities, detecting the one or more objects within the image.