Systems and methods are disclosed that use a geometric approach to detect objects on a road surface. A set of points within a region of interest between a first frame and a second frame are captured and tracked to determine a difference in location between the set of points in two frames. The first frame may be aligned with the second frame and the first pixel values of the first frame may be compared with the second pixel values of the second frame to generate a disparity image including third pixels. Subsets of the third pixels that have an disparity image value about a first threshold may be combined, and the third pixels may be scored and associated with disparity values for each pixel of the one or more subsets of the third pixels. A bounding shape may be generated based on the scoring that corresponds to the object.