A method includes—responsive to activation of a vehicle for loading objects —detecting a first set of objects in vicinity of the vehicle, and—responsive to subsequent activation of the vehicle for relocation —detecting a second set of objects in vicinity of the vehicle. The method also include—responsive to a difference between the first and second sets of objects—issuing an indication for a user of the vehicle. The difference may, for example, relate to an added object, the added object being present in the second set of objects but not in the first set of objects. In some embodiments, objects may be excluded from consideration when a tracked location of the object indicates an increasing distance between the vehicle and the object. In some embodiments, objects that have an estimated size larger than a reference size may be excluded from consideration.