The present disclosure relates to object detection and object distance determination by an assisted driving system of a vehicle. In one embodiment, a method includes receiving image data detected and detecting at least one object in the image data. Detecting includes determining a region of interest in the image, classifying the object and localizing the region of interest in the image data. The method may include determining a distance value for the at least one object, wherein the distance determination is determined based on the category determined, localization of the region of interest, and object size relative to the image data. The method may include outputting a distance value determination for the at least one object.