Thomanek and DDickmanns 1992: An integrated spatio-temporal approach to real-time monocular vision in combination with a 2-dimensional fast symmetry analysis is presented for obstacle recognition and relative state estimation. This module is one part of a system for autonomous vehicle guidance. Obstacles, i.e. other vehicles are detected and tracked up to a distance of 100 meters. The system is able to handle multiple objects. The number is limited by hardware resources.