A method of vehicle navigation includes controlling a phased array radar to search for an object within a first field of view and receiving a first direction, having a first direction resolution, and a first range, having first range resolution, of the object from the phased array radar. The method includes controlling a camera to search for the object based on the first direction and the first range within a second field of view that is smaller than the first field of view, and receiving a second direction of the object from the camera, wherein the second direction has a second direction resolution that is finer than the first direction resolution. The method includes outputting at least one of the second direction or the first range, and navigating the vehicle based on the at least one of the second direction or the first range.