Systems and methods are provided for augmenting upright object detection. In one implementation, a system for augmenting detection of objects in an environment of a vehicle may include at least one processing device. The at least one processing device may be programmed to: receive, from an image capture device, a first image frame, the first image frame including an attention area associated with a suspected upright object indication; warp, using a level road plane model, an area in a second earlier image frame that corresponds to the attention area; track a plurality of image patches across the warped area and the attention area; compute a road plane model fit to the tracked image patches; and determine whether to suppress the upright object indication based on the tracked image patches being more consistent with a road plane model than with an upright object model.