1. A method of performing object classification within a collision warning and countermeasure system of a vehicle comprising: detecting at least one object and generating at least one object detection signal in response to said detection; generating at least one image detection signal comprising an image representation of said at least one object; projecting said at least one object detection signal on an image plane in response to said at least one image detection signal to generate at least one fused image reference; generating at least one candidate template in response to said at least one fused image reference; validating said at least one candidate template; and classifying at least one of said at least one object in response to said at least one candidate template.