1. An apparatus comprising: a camera configured to capture a two dimensional image in a field of view; a ranging system configured to measure distances to at least one object in the field of view; and a controller configured to analyze the distances to generate a cloud of three dimensional coordinates, and to project coordinates of the cloud onto the image to match the coordinates with corresponding pixels of the image; the controller is configured to generate additional coordinates to increase the resolution of the cloud by iteratively: defining a scanning window encompassing a portion of the image, detecting a group of coordinates that have been projected onto the scanning window, scoring each coordinate in the group based on its similarity to other coordinates in the group, dividing the scanning window into quadrants, selecting the highest scoring coordinate from each quadrant, generating an additional coordinate that is positioned within the cloud based on the selected coordinates, and transmitting the cloud for display.