1. A method of classifying objects and estimating ranges in an image, said method comprising the steps of: (1) segmenting at least one distinct object within said image; (2) classifying said at least one object based on sensed features of said at least one object; (3) predicting a range of said at least one object based on its classification; (4) converting sensed features of said at least one object to predicted physical features of said at least one object; (5) classifying said at least one object based on said physical features of said at least one object; and (6) after step (5), repeating steps (3), (4), and (5) at least once with respect to said at least one object.