A vehicle ranging system includes a ranging scanner, a ranging data processor, and an object classifier. The ranging scanner may be configured to generate a series of ranging data. The ranging data processor may be configured to apply a scale invariant ranging template to the series of ranging data and determine a difference between the ranging template and the series of ranging data. The object classifier may be configured to identify an object corresponding to the series of ranging data based on the difference between the ranging template and the series of ranging data.