Methods and systems are provided for detecting objects within an environment of a vehicle. In one embodiment, a method includes: receiving, by a processor, image data sensed from the environment of the vehicle; determining, by a processor, an area within the image data that object identification is uncertain; controlling, by the processor, a position of a lighting device to illuminate a location in the environment of the vehicle, wherein the location is associated with the area; controlling, by the processor, a position of one or more sensors to obtain sensor data from the location of the environment of the vehicle while the lighting device is illuminating the location; identifying, by the processor, one or more objects from the sensor data; and controlling, by the processor, the vehicle based on the one or more objects.